Journal of Dalian Maritime University >
2020 , Vol. 46 >Issue 2: 17 - 25
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2020.02.003
Depth control of towed underwater vehicle based on ADRC parameter optimization
Received date: 2019-09-01
Revised date: 2019-12-12
Online published: 2019-12-12
Supported by
Two main problems in the depth control of the towed underwater vehicle (TUV):consist of the strong nonlinearity of the system resulting in the difficulty of modeling and analysis, and the difficulty of accurate depth control due to the interference of the traction and external environment. For first problem, it was proposed that the nonlinear accurate model of the system motion was established firstly, and then the appropriate simplification were carried out to solve it. For the second problem, the active disturbance rejection controller(ADRC) based on genetic algorithm was used to replace PID controller, and genetic algorithm was used to optimize its parameter selection, and the control accuracy of the depth of vehicle was improved by controlling the wing angle of the vehicle. Finally, the simulation experiments were carried out for the system under different conditions, such as variable speed, fixed depth and so on. The experimental results show that the simplified solution of the towing model and the control strategy are effective and feasible. As compared with PID controller, the improved ADRC has higher control accuracy and lower operating frequency, which improves the control quality of the system.
GAO Guo-zhang , ZHANG Jia-he . Depth control of towed underwater vehicle based on ADRC parameter optimization[J]. Journal of Dalian Maritime University, 2020 , 46(2) : 17 -25 . DOI: 10.16411/j.cnki.issn1006-7736.2020.02.003
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