无人水下航行器定深控制模型参数优化设计方法研究

Research on Parameter Optimization Method for UUV Depth Determination Control Model

摘要:

合适的控制模型参数能够保证被控对象在较快的响应时间和较小的超调量下达到控制目标，无人水下航行器定深控制模型参数的优化设计对提升水下航行器使用性能具有重要意义。首先建立了水下航行器空间运动学方程，基于Modelica建模语言构建了航行器虚拟样机及其定深控制模型；然后以响应时间和超调量最小为优化目标，采用非支配排序差分进化算法建立了水下航行器定深控制模型参数多目标优化流程，基于OPTIMUS平台构建了水下航行器定深控制模型参数优化设计工作流。以某水下航行器为对象的实验结果表明所提方法可快速获得较优的PID控制模型参数，优化后的水下航行器定深运动控制特性显著改善。

关键词:水下航行器定深; Modelica;参数优化;OPTIMUS

Abstract:

Proper parameters of the control model can ensure that the controlled object can reach the control target with fast response time and small overshoot. The optimal design of UUV depth control model parameters is of great significance to improve UUV motion performance. Firstly, the UUV space kinematics equation is established, and the UUV virtual prototype and its depth setting control model are constructed based on Modelica. Then, taking response time and minimum overshoot as optimization objectives, the multi-objective optimization process of UUV depth control model parameters is established by using non-dominated sorting differential evolution algorithm, and the optimization design workflow of UUV depth control model parameters is constructed based on OPTIMUS platform. The experimental results of a 324-caliber thermal power UUV show that the proposed method can quickly obtain the optimal PID control model parameters, and the optimized control characteristics of the UUV's fixed depth motion are significantly improved.

Key words:UUV depth control; Modelica; optimize; OPTIMUS