基于改进积分型变结构控制器的近水面机器人减摇鳍系统.pdfVIP

第26 卷 第4 期 控 制 与 决 策 2011 年 4 月 Vol. 26 No. 4 Control and Decision Apr. 2011 文章编号: 1001-0920 (2011) 04-0633-04 基于改进积分型变结构控制器的近水面机器人减摇鳍系统 1 1 1 2 金鸿章 , 高妍南, 潘立鑫 , 周生彬 (1. 哈尔滨工程大学自动化学院，哈尔滨150001；2. 哈尔滨师范大学数学科学学院，哈尔滨150025) 摘 要: 海洋机器人在近水面低速航行时, 由于海浪的作用将产生横摇运动. 依据减摇鳍减摇原理和变结构控制理 论, 针对海浪波浪力作用的特点, 在水下机器人横摇解耦模型的基础上, 提出一种带有自适应机制的改进积分滑模控 制器的设计. 仿真结果表明, 改进后的积分型滑模控制器在消除稳态误差的基础上, 进一步提高了减摇效率. 关键词: 机器人；近水面；减摇鳍；积分变结构控制 中图分类号: TP273 文献标识码: A Fin stabilizer system of underwater vehicle near surface based on modified integral variable structure controller 1 1 1 2 JIN Hong-zhang , GAO Yan-nan , PAN Li-xin , ZHOU Sheng-bin (1. College of Automation，Harbin Engineering University ，Harbin 150001 ，China ；2. College of Mathmatical Science, Harbin Normal University ，Harbin 150025 ，China ．Correspondent ：GAO Yan-nan，E-mail ：gaoyannan123@yahoo. com.cn) Abstract: When underwater vehicle navigates with low speed near surface, the vehicle has roll motion for the disturbance from wave. According to the principle of zero speed fin stabilizer and variable structure control, modified integral variable structure controller is applied based on coupling roll motion model of autonomous underwater vehicle with the characteristic of wave. The simulation results from simulation experiments show that the modified integral variable structure controller can eliminate the steady-state error and has considerable improvement in performance. Key words: robot ；near surface ；fin stabilizer ；integral variable structure control 1 引引引 言言言 控