数字海洋与水下攻防2024，Vol.7Issue(2)：170-176,7.DOI:10.19838/j.issn.2096-5753.2024.02.005
基于自抗扰的双环路UUV航向角控制方法
A Dual Loop Heading Angle Control Method of UUVs Based on Active Disturbance Rejection Control
胡红波 1李晨1
作者信息
- 1. 海军装备部驻宜昌地区军事代表室,湖北 宜昌 443003
- 折叠
摘要
Abstract
A dual loop heading angle control method based on Active Disturbance Rejection(ADRC)is proposed to address the issue of degraded heading angle control quality caused by external disturbances such as ocean currents and waves and internal model uncertainties for unmanned underwater vehicles(UUV).Firstly,a six-degree-of-freedom dynamic and kinematic model and a horizontal plane dynamic model of the UUV are established.Then,a nonlinear controller is designed that combines ADRC with dual control loops.To tackle with the influences of internal and external nonlinear factors on system heading control,an extended state observer is used to observe and compensate for the"sum"disturbance.On the basis of the heading angle feedback control loop using ADRC,an inner loop of heading angle velocity is added,the sensitivity of the system to disturbances is reduced,and the transfer function of the controlled object is modified to provide a good controlled object model for the outer loop.Finally,the effectiveness of the control method is verified through simulation experiments.关键词
水下无人航行器/自抗扰控制/双控制环路/非线性控制器Key words
unmanned underwater vehicle/ADRC/dual control loop/nonlinear controller分类
交通工程引用本文复制引用
胡红波,李晨..基于自抗扰的双环路UUV航向角控制方法[J].数字海洋与水下攻防,2024,7(2):170-176,7.
