湖南大学学报（自然科学版）2025，Vol.52Issue(6)：24-35,12.DOI:10.16339/j.cnki.hdxbzkb.2025173
基于混合LQR/H∞与GPC的深海集矿车内外环控制
Inner and Outer Loop Control of Deep-sea Mining Vehicle Based on Hybrid LQR/H∞ and GPC
摘要
Abstract
To address the issue that the deep-sea mining vehicle is vulnerable to time-varying external disturbances caused by some factors such as dynamic ocean currents when operating autonomously on the seabed,and to further improve the motion control accuracy of deep-sea mining vehicle,an inner and outer loop control method of deep-sea mining vehicle based on hybrid LQR/H∞ and GPC is proposed.Based on the error kinematic model of the deep-sea mining vehicle that considers time-varying external disturbances,the LQR and H∞ control methods are combined to construct the azimuth outer loop controller,which enables the controller to possess both the ability of fast tracking of linear optimal control methods and strong robustness.The speed inner loop controller is constructed by combining the GPC speed controller based on the track's longitudinally kinematics model and the deep-sea mining vehicle's dynamic model,so that the controller can ensure real-time solutions while considering the dynamic characteristics of the deep-sea mining vehicle.The simulation results show that compared with the commonly used MPC controller in the lateral controller and the traditional PID controller in the longitudinal controller,the proposed method not only has higher lateral and longitudinal control accuracy,but also shows stronger robustness to time-varying external disturbances.关键词
集矿车/车辆控制/线性二次调节器/鲁棒性Key words
mining vehicle/vehicle control/linear quadratic regulator/robustness分类
计算机与自动化引用本文复制引用
秦兆博,侯嘉晖,李致远,边有钢,崔庆佳,胡满江..基于混合LQR/H∞与GPC的深海集矿车内外环控制[J].湖南大学学报（自然科学版）,2025,52(6):24-35,12.基金项目
湖南省自然科学基金资助项目(2021JC0010),Natural Science Foundation of Hunan Province(2021JC0010) （2021JC0010）
长三角科技创新共同体联合攻关计划项目(2022CSJGG0900),Yangtze River Delta S&T Innovation Community Joint Research Project(2022CSJGG0900) （2022CSJGG0900）
整车先进设计制造技术全国重点实验室项目(72275004,32315007),State Key Laboratory of Advanced Design and Manufacturing Technol-ogy for Vehicle Project(72275004,32315007) （72275004,32315007）
