摘要
负浮力四倾转推进器水下机器人(NQTAUV)的姿态控制受到各种干扰的影响,导致姿态跟踪误差。为了实现干扰的估计与补偿,进行精确的姿态跟踪,设计干扰观测器和姿态控制器。首先,建立姿态跟踪误差模型,基于抗干扰控制理论,设计干扰观测器估计干扰,然后设计姿态跟踪控制器,并在三自由度实验平台上进行姿态跟踪实验。比较干扰观测器激活和关闭情况下,跟踪正弦信号的性能。实验结果表明,干扰观测器能够准确估计干扰,控制器能够对干扰进行补偿,实现了高精度的姿态跟踪。研究结果显示,基于干扰观测器的姿态跟踪控制能够对干扰进行补偿,提高了姿态跟踪精度。
The attitude tracking control of negative-buoyancy quad tilt-rotor autonomous underwater vehicle(NQTAUV)is influenced by many disturbances,which results in the attitude tracking error.A disturbance observer and an attitude tracking controller are designed to estimate the disturbance and compensate it for high attitude tracking performance.The attitude tracking error model is derived,a disturbance observer is designed to estimate the disturbance,an attitude tracking controller is designed to track the target attitude under disturbance,the performance of the controller is validated by experiments.The experiments show that the estimation of the disturbance is near the real value,and precise attitude tracking is achieved.The research shows that the disturbance observer based attitude control can compensate the disturbance and improve the attitude tracking accuracy.
作者
王涛
吴超
葛彤
WANG Tao;WU Chao;GE Tong(School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiaotong University,Shanghai 200240,China)
出处
《舰船科学技术》
北大核心
2020年第3期98-102,共5页
Ship Science and Technology
基金
国家重点研发计划专项资助(2016YFC0300700)。
关键词
负浮力
四倾转推进器
水下机器人
干扰观测器
姿态跟踪
negative-buoyancy
quad tilt-rotor
autonomous underwater vehicle
disturbance observer
attitude tracking
