崔鹏飞, 田军委, 孙江龙, 等. 基于参数扰动模型的遥控潜水器滑模控制方法[J]. 中国舰船研究, 2021, 16(1): 136–142. doi: 10.19693/j.issn.1673-3185.01756
引用本文: 崔鹏飞, 田军委, 孙江龙, 等. 基于参数扰动模型的遥控潜水器滑模控制方法[J]. 中国舰船研究, 2021, 16(1): 136–142. doi: 10.19693/j.issn.1673-3185.01756
CUI P F, TIAN J W, SUN J L, et al. Sliding mode control method of remotely operated vehicles based on parameter disturbance model[J]. Chinese Journal of Ship Research, 2021, 16(1): 136–142. doi: 10.19693/j.issn.1673-3185.01756
Citation: CUI P F, TIAN J W, SUN J L, et al. Sliding mode control method of remotely operated vehicles based on parameter disturbance model[J]. Chinese Journal of Ship Research, 2021, 16(1): 136–142. doi: 10.19693/j.issn.1673-3185.01756

基于参数扰动模型的遥控潜水器滑模控制方法

Sliding mode control method of remotely operated vehicles based on parameter disturbance model

  • 摘要:
      目的  遥控潜水器(ROV)的运动控制易受到环境和模型参数不确定性因素的影响,难以达到预期控制效果,针对此情况,提出一种基于参数扰动模型的ROV滑模控制方法。
      方法  以标准ROV模型为基础,将环境干扰与模型自身参数的不确定性作为模型扰动参数,建立带参数扰动的ROV模型,并对模型进行解耦得到深度方向的控制模型,基于带参数扰动的模型完成定深运动滑模控制器设计,开展仿真试验验证。
      结果  结果表明,基于参数扰动ROV模型的滑模控制器能够对ROV进行稳定、高效的定深控制,并且该控制方法可以改善外干扰和模型参数不确定性带来的影响。
      结论  该控制器设计方法可为解决ROV控制过程中受到的环境与模型不确定性问题提供一种解决方案。

     

    Abstract:
      Objective  In order to solve the remotely operated vehicle (ROV) motion control being easily influenced by the environment and model uncertainty factors, as it is difficult to achieve the desired control effect, a sliding mode control method of ROV based on a parameter disturbance model is proposed.
      Methods  On the base of standard ROV model, taking the external environmental disturbance, and the uncertainty parameter of the model as the model disturbance parameters, the ROV model with parameter disturbance is established, and the depth direction control model is obtained by decoupling the model. Under the new model, the sliding mode controller is designed for the depth determination motion of ROV. The sliding mode controller is designed based on the new model.
      Results  The simulation results show that the sliding mode controller based on the ROV model can control the ROV depth stabily, effectively and efficiently, and the control method can improve the influence of external disturbance and model parameter uncertainty.
      Conclusion  The design method of the controller can provide a solution to the problem of disturbance and model uncertainty in the ROV control process.

     

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