摘要
针对水下机器人在复杂水域中因模型不确定性与外部干扰导致的路径跟踪精度下降问题,提出了一种内外环复合控制方法(ADRC-PID),外环采用自抗扰控制(ADRC)实现扰动动态补偿,内环利用比例-积分-微分控制(PID)优化局部调节。在ArduSub实验平台上构建控制对象的数学模型,通过对比ADRC-PID与P-PID控制的性能,结果表明,ADRC-PID控制器在鲁棒性和控制精度方面均显著优于传统方法,相较于传统P-PID,ADRC-PID在轨迹跟踪中最大跟踪误差约降低0.6 m,调节时间缩短0.8 s,有效增强了水下机器人的抗扰能力与路径跟踪性能。
To address the degradation of path tracking accuracy of underwater vehicles caused by model uncertainty and external interferences in complex aquatic environments,an inner and outer loop compound control method(ADRC-PID)was proposed.The outer loop adopted active disturbance rejection control(ADRC)to realize dynamic compensation of disturbance,and the inner loop utilized proportional-integral-differential control(PID)to optimize local regulation.The mathematical model of the control object was built on the ArduSub experimental platform.By comparing the performance of ADRC-PID and P-PID control,the results show that the ADRC-PID controller is significantly superior to the traditional method in terms of robustness and control accuracy.The maximum tracking error of ADRC-PID is reduced by about 0.6 m and the adjustment time is shortened by 0.8 s,which effectively enhances the disturbance immunity and path tracking performance of the underwater vehicle.
作者
王宝玉
冯晓东
李智卿
WANG Bao-yu;FENG Xiao-dong;LI Zhi-qing(School of Information Science and Technology,Beijing University of Chemical Technology,Beijing 100029)
出处
《制造业自动化》
2025年第12期103-114,共12页
Manufacturing Automation
基金
国家重点研发计划(2024YFB4710701)。
关键词
自抗扰控制
水下机器人
路径跟踪
ArduSub
active disturbance rejection control
underwater robots
path tracking
ArduSub
