基于海浪干扰滤波器的UUV近水面深度控制

针对UUV在近水面航行过程中海浪波动对深度计测量造成较大干扰进而影响深度控制效果的问题,设计一种带有海浪干扰滤波器的UUV深度控制方法。分析UUV海试中深度控制性能,选取合适的参数设计海浪干扰滤波器并验证了其滤波效果。考虑到PID控制器参数选择难的问题,采用遗传算法对其控制参数实现在线自整定。最后将实时海浪加入到UUV深度控制系统进行仿真实验,并将仿真结果与海试数据对比,结果表明本文提出的方法可有效的抑制海浪干扰,改善UUV近水面深度控制效果,具有一定的工程实际意义。

Depth Control for UUVs Manoeuvring Near-surface Based On Wave Disturbance Filter

Wave fluctuations will cause greater interference to the depth gauge of unmanned underwater vehicle (UUV) on the near surface motion, thereby affect the impact of depth control. This paper simplifies the vertical plane movement model based on the UUV 6-DOF model, and obtains the simulation model of UUV depth control system by further simplify. This article has obtained the best parameters by genetic algorithm. In order to eliminate the interference of the first order wave forces, a digital IIR low-pass filter based on analog Butterworth method was designed, and achieves better outcome. The simulation results show that the Genetic PID controller and wave filter in this paper is simple and obtained higher control accuracy, moreover, can suppress the interference of wave when UUV sails in near-surface.