| 自抗扰技术在水下航行体横滚姿态 |
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| 引用本文： | 黄健.自抗扰技术在水下航行体横滚姿态[J].船舶工程,2014,36(S1):131-134. |
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| 作者姓名： | 黄健 |
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| 作者单位： | 中国船舶重工集团公司 昆明船舶设备研究试验中心 |
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| 基金项目： | 武器装备预研基金(401060501) |
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| 摘 要： | 在某些极端工况下，PID横滚姿态控制器性能变差，难以满足使用要求。对此，提出采用经自适应差分算法优化以及引进新型非线性函数的ADRC作为其控制方法。给出了ADRC横滚控制器的具体形式，在典型干扰下进行了仿真研究。对比PID控制器，改进后的ADRC在模型参数大摄动、外界强干扰等情况下，具有更好的环境适应能力。
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| 关 键 词： | 水下航行体 ADRC 自适应差分算法 横滚控制 |
| 收稿时间： | 2013/12/12 0:00:00 |
| 修稿时间： | 2014/3/27 0:00:00 |
Research on Application of ADRC in Roll Attitude Control of the Underwater Vehicles |
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| Huang Jian.Research on Application of ADRC in Roll Attitude Control of the Underwater Vehicles[J].Ship Engineering,2014,36(S1):131-134. |
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| Authors: | Huang Jian |
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| Institution: | China Shipbuilding Industry Corporation,Research and Test Center of Kunming Ship Equipment |
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| Abstract: | Under extreme conditions, the performance of the PID roll attitude controller cannot meet the requirements. This paper adopts ADRC which is optimized by AED and import the late-model nonlinear function as the underwater vehicle roll controller. The particular form of roll ADRC controller is given, and the simulation research is carried out under the typical interference. Emulation shows comparing PID, the improved ADRC has better environmental adaptability in situation of big model parameter perturbation and strong outer disturbance. |
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| Keywords: | underwater vehicle ADRC ADE roll control |
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