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水下机器人在近水面低速航行时,为了有效克服海浪干扰的作用,提高水下机器人横摇控制的性能,依据解耦控制理论和零航速减摇鳍的工作原理,在水下机器人水平面运动耦合模型的基础上运用解耦控制方法进行横摇控制.该方法将水平面运动耦合模型分解为横荡、横摇和艏摇三个子系统进行分析,根据期望性能指标配置横摇子系统模型的极点,并将均方差最小线性递推滤波算法引入到状态信号的反馈通路中.通过对各种海情下水下机器人的横摇运动姿态进行仿真,结果表明:该解耦控制方法可应用于水下机器人近水面横摇运动的控制,其控制结果良好.
In order to effectively overcome the effect of ocean wave disturbance and improve the performance of underwater robot’s roll control when underwater vehicle navigates at low speed near the surface of the water, based on the decoupling control theory and the working principle of zero-speed stabilizer, The model is based on the use of decoupling control method of rolling control.This method will be horizontal plane coupling model is divided into sloping, rolling and shaking the three subsystems for analysis, according to the desired performance indicators configure the poles of the sub-system model, And the mean square error minimum linear recursive filtering algorithm is introduced into the state signal feedback path.By simulating the underwater robot’s roll motion under various sea conditions, the results show that the decoupling control method can be applied to underwater robot Near-surface water roll control, the control result is good.