| 自主水下航行器的软变结构控制 |
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| 引用本文： | 刘云龙,高存臣,常俊芳,郭真真.自主水下航行器的软变结构控制[J].中国海洋大学学报(自然科学版),2012(9):110-114. |
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| 作者姓名： | 刘云龙 高存臣 常俊芳 郭真真 |
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| 作者单位： | 中国海洋大学信息科学与工程学院;潍坊学院信息与控制工程学院;中国海洋大学数学科学学院 |
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| 基金项目： | 国家自然科学基金项目(60974025)资助 |
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| 摘 要： | 研究自主水下航行器系统的软变结构控制策略问题。首先分析软变结构控制系统的结构特征,利用双曲正切函数,给出控制受限情形的软变结构控制策略。其次利用Lyapunov稳定性理论,讨论自主水下航行器软变结构控制系统的稳定性,然后构造了基于双曲正切函数的软变结构控制器,给出自主水下航行器软变结构控制的具体算法。基于双曲正切函数的自主水下航行器软变结构控制系统调节精度高,响应速度快,有效地削弱了系统抖振。最后通过一个仿真实验,比较了自主水下航行器垂直深度通道的4种控制策略对系统性能的影响,从而验证了研究方法的有效性。
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| 关 键 词： | 自主水下航行器 软变结构 滑模 双曲正切函数 饱和性 |
Soft Variable Structure Control for Autonomous Underwater Vehicle |
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| LIU Yun-Long,GAO Cun-Chen,CHANG Jun-Fang,GUO Zhen-Zhen.Soft Variable Structure Control for Autonomous Underwater Vehicle[J].Periodical of Ocean University of China,2012(9):110-114. |
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| Authors: | LIU Yun-Long GAO Cun-Chen CHANG Jun-Fang GUO Zhen-Zhen |
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| Institution: | 1.College of Information Science and Engineering,Ocean University of China,Qingdao 266100,China;2.College of Information and Control Engineering,Weifang University,Weifang 261061,China;3.School of Mathematics Science,Ocean University of China,Qingdao 266100,China) |
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| Abstract: | The soft variable structure control strategy problem for autonomous underwater vehicle system is studied.Firstly,the structure feature of the system was analyzed and the strategy under restricted controls was presented by hyperbolic tangent functions.Secondly,the stability of the system for autonomous underwater vehicle was analyzed by Lyapunov stability theory.Furthermore,the soft variable structure controller with hyperbolic tangent functions was designed and the concrete algorithm on soft variable structure control for antuonmous underwater vehicle was given.High regulation rates were achieved,settling time was shorted and the system chattering was decreased by this strategy.Finally,a simulation experiment designed by soft variable structure control strategy and other control strategies for the vertical depth of autonomous underwater vehicle were carried out to verify the effectiveness of the proposed strategy. |
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| Keywords: | autonomous underwater vehicle(AUV) soft variable structure sliding mode hyperbolic tangent function saturability |
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