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

摘要:

针对水下无人航行器（UUV）受到海流海浪等外部扰动与内部模型不确定导致航向角控制品质下降的问题，提出一种基于自抗扰（ADRC）的双环路航向角控制方法。首先，建立了 UUV 的六自由度动力学、运动学模型与水平面动力学模型。然后，设计了一种非线性控制器，将自抗扰控制与双控制环路相结合， 针对系统航向控制所受内部与外部等非线性因素的影响，采用扩张状态观测器对“总和”扰动进行观测与补偿。 在采用自抗扰控制的航向角反馈控制回路的基础上，增加航向角速度内环，降低系统对扰动的灵敏度，改造被控对象的传递函数，为外环路提供良好的被控对象模型。最后，通过仿真实验验证了该控制方法的有效性。

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.