上海海洋大学学报2026，Vol.35Issue(5)：1185-1199,15.DOI:10.12024/jsou.20260405111
浪流扰动下脐带缆动力学响应分析与ROV轨迹跟踪控制
Dynamic response analysis of the umbilical cable and ROV trajectory tracking control under wave-current disturbances
摘要
Abstract
To address the trajectory deviation of remotely operated vehicles(ROVs)during operations in complex environments-caused by the nonlinear towing of a negative-buoyancy umbilical cable and the transient impact of ocean waves-the dynamic response of the umbilical cable and an anti-disturbance trajectory tracking control method are investigated.First,a dynamic model of the umbilical cable is established using the lumped-mass method and the Morison equation,and the time-varying tension and towing-disturbance characteristics under typical operating conditions are analyzed with the OrcaFlex software.Second,an improved line-of-sight(ILOS)guidance law is designed to achieve dimensionality reduction,decoupling,and guidance of the three-dimensional trajectory;a linear extended state observer(LESO)is introduced to perform real-time estimation and feedforward compensation of the unknown composite disturbances arising from cable towing forces and the wave-current field,and a power-rate sliding mode control(PRSMC)is combined to smooth the control output and suppress high-frequency chattering.Finally,a co-simulation platform based on MATLAB and OrcaFlex is built for closed-loop verification.Simulation results show that,in tracking a complex polyline trajectory,the proposed control method reduces the mean absolute errors(MAEs)of the three degrees of freedom by 28.40%,27.95%,and 49.78%,respectively,compared with conventional sliding mode control(SMC).The results indicate that,under complex trajectories and multi-source composite disturbances,the proposed control algorithm can accurately observe and compensate in real time for the unknown current-cable coupled disturbances,effectively reducing steady-state error and system chattering,and achieving good tracking accuracy and strong robustness.This study can provide a reference for the design and application of anti-disturbance control systems for ROVs in strongly disturbed environments.关键词
水下遥控机器人/负浮力脐带缆/动力学响应/轨迹跟踪/联合仿真Key words
remotely operated vehicle(ROV)/negative-buoyancy umbilical cable/dynamic response analysis/trajectory tracking/co-simulation分类
信息技术与安全科学引用本文复制引用
李兆昊,夏英凯,阚继升,李承奕,潘天正,梁兆伟..浪流扰动下脐带缆动力学响应分析与ROV轨迹跟踪控制[J].上海海洋大学学报,2026,35(5):1185-1199,15.基金项目
华中农业大学创新平台建设培育专项(2662025GXPY008) （2662025GXPY008）
