水下自主航行器的横滚抑制控制系统设计.doc

水下自主航行器的横滚抑制控制系统设计
摘要: 水下自主航行器受到扰动影响容易产生横滚,为了提高水下航行器的稳定性,提出一种基于横滚抑制的水下自主航行器控制系统设计方法。系统设计主要包括了控制算法设计和系统的硬件模块化设计,采用鲁棒性PID 控制算法进行控制律设计,构建静态神经元控制时滞闭环系统,采用严格反馈抑制方法进行横滚抑制,在程序加载电路中进行控制算法加载。硬件设计主要包括航行姿态的A/D采样电路、控制信息处理器、伺服机构和控制输出电路等。最后进行系统调试和仿真分析,结果表明,采用该控制系统能有效抑制水下自主航行器的横滚,进行姿态修正,提高航行稳定性。
关键词: 水下自主航行器; 航行器横滚抑制; 控制系统; PID控制算法
中图分类号: TN964?34; TP273 文献标识码: A 文章编号: 1004?373X(2017)14?0085?03
Abstract: The underwater autonomous vehicle affected with disturbance may produce the roll. In order to improve the stability of the underwater vehicle, a design method of underwater autonomous vehicle control system based on roll suppression is proposed. The system design includes the control algorithm design and system hardware modular design. The robustness PID control algorithm is used to design the control law
, and construct the time?delay closed?loop system controlled with static neural cell. The strict feedback suppression method is used to suppress the roll. The control algorithm is loaded into the program loading circuit. The hardware design mainly includes the design of A/D sampling circuit, control information processor, servo mechanism and control output circuit of navigation attitude. The system debugging and simulation analysis were carried out. The simulation results show that the control system can restrain the roll of underwater autonomous vehicle effectively, correct the po