摘要
[目的]为了提高遥控水下航行器(ROV)在复杂水下环境中的姿态控制性能,开展多电机协同推进的ROV姿态控制研究。[方法]首先,针对多电机系统的结构和算法,分别提出一种基于PID速度补偿器的偏差耦合结构和一种新型非奇异终端滑模控制(SMC)算法,并设计一种新颖的基于多电机协同推进的ROV姿态控制方法;然后,建立ROV的运动学和动力学模型,开展推进器组推力建模分析、解耦简化ROV动力学模型研究;最后,设计一种ROV滑模姿态控制器。[结果]仿真结果表明,所提的结构和算法可提高多电机系统的抗干扰性、同步性和快速响应能力,进而提高ROV姿态控制系统的稳定性与鲁棒性。[结论]所提方法可为ROV姿态控制提供一种新的可用方案。
[Objective]In order to improve the attitude control performance of a remote operated vehicle(ROV)in complex underwater environments,the attitude control of ROV with multi-motor coordinated propulsion is studied.[Methods]First,for the structure and algorithm of the multi-motor system,a deviation coupling structure based on a PID speed compensator and a new non-singular terminal sliding mode control(SMC)algorithm are respectively proposed,and a novel ROV attitude control method based on multi-motor cooperative propulsion is designed.The kinematic and dynamic model of an ROV is then established,the thrust analysis of the thruster group is carried out,and the decoupling simplified ROV dynamic model is developed.Finally,the ROV sliding mode attitude controller is designed.[Results]The simulation results show that the structure and algorithm proposed in this paper improve the anti-interference,synchronization and rapid response capabilities of the multi-motor system,thereby enhancing the stability and robustness of the ROV attitude control system.[Conclusion]This method can provide a new solution for ROV attitude control.
作者
王阳
曾庆军
戴晓强
吴伟
WANG Yang;ZENG Qingjun;DAI Xiaoqiang;WU Wei(School of Electronics and Information,Jiangsu University of Science and Technology,Zhenjiang 212100,China)
出处
《中国舰船研究》
CSCD
北大核心
2022年第6期223-235,251,共14页
Chinese Journal of Ship Research
基金
国家自然科学基金资助项目(11574120)
江苏省研究生科研与实践创新计划资助项目(KYCX20_3138)。
关键词
遥控水下航行器
多电机系统
滑模控制
姿态控制系统
remote operated vehicle(ROV)
multi-motor system
sliding mode control(SMC)
attitude control system
