摘要
海洋地震勘探是海底地形测绘与海洋资源勘探的重要手段。水面拖曳体(STV)是海洋拖缆地震勘探的关键设备,其直线航迹跟踪精度直接影响勘探数据的可靠性与有效性。针对复杂海洋扰动下STV的高精度直线航迹跟踪问题,提出一种融合新型自适应律的自适应超扭曲控制方法(ASTC)。复杂海洋环境干扰、模型参数不确定性及拖缆作用力被统一视为集总干扰,基于ASTC设计直线航迹跟踪控制器,并利用李雅普诺夫稳定性(Lyapunov stability)理论证明系统的均匀最终有界性。数值仿真结果表明,所提出的ASTC方法在不同海况下均能实现高精度的航迹跟踪。此外,该方法有效解决了固定增益超扭曲控制在跟踪精度与控制抖振之间的固有矛盾,能够在不同强度的环境干扰下动态调整控制增益,从而在保证优异跟踪性能的同时,显著抑制控制输入的抖振现象。
Marine seismic surveys are fundamental to seabed topographic mapping and marine resource exploration.As critical components of marine streamer seismic surveys,surface-towed vehicles(STV)require precise straightline trajectory tracking to ensure the reliability and validity of exploration data.To achieve high-precision tracking for STVs amidst complex marine disturbances,this paper proposes an adaptive super-twisting control(ASTC)method integrated with a novel adaptive law.Firstly,the dynamics of the surface towing system are modeled,where environmental disturbances,parameter uncertainties,and umbilical forces are aggregated into a lumped disturbance term.Subsequently,a trajectory tracking controller is designed based on the proposed ASTC,with the uniform ultimate boundedness of the closed-loop system proven via Lyapunov stability theory.Numerical simulations demonstrate that the method achieves high-precision tracking under various sea states,exhibiting superior robustness.Notably,the proposed strategy effectively mitigates the inherent trade-off between tracking accuracy and control chattering observed in traditional fixed-gain super-twisting control.By dynamically adjusting gains in response to varying disturbances,it ensures superior performance while significantly suppressing chattering.
作者
宋梓豪
魏汉迪
肖龙飞
周长根
郭桦
SONG Zihao;WEI Handi;XIAO Longfei;ZHOU Changgen;GUO Hua(School of Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Yazhou Bay Institute of Deepsea Science and Technology,Shanghai Jiao Tong University,Sanya 572024,Hainan,China;Guoneng Ocean Shipping Co.,Ltd.,Beijing 100080,China;National Energy Group Shipping Co.,Ltd.,Beijing 100080,China)
出处
《海洋工程装备与技术》
2026年第1期34-45,共12页
Ocean Engineering Equipment and Technology
基金
国家自然科学基金(42206192)
深远海全天候驻留浮式研究设施研发专项(SSZX22002)
上海交通大学深蓝计划(SL2022PT102)。
关键词
水面拖曳体
航迹跟踪
自适应超扭曲控制
集总干扰
海洋地震勘探
surface-towed vehicles
trajectory tracking
adaptive super-twisting control
lumped disturbance
marine seismic surveys
