深海拖曳系统自稳定二级拖体姿态控制研究

二级深拖系统具有可控性强、母船扰动弱等优点,是重要的海洋探测平台。在实际工作中,二级拖体姿态稳定是保证探测数据准确的基本前提。本文以具有自主调节功能的二级拖体为例,对其姿态控制进行研究。首先建立了二级拖缆的“弹簧——阻尼”模型,并在此基础上建立了二级深拖系统的数学模型。其次根据该系统具有非线性、时变性等特点,设计了具有参数自修正功能的模糊自适应PID控制器,以实现在不同工况下对二级拖体的姿态进行控制。仿真结果表明,未加载控制器时,海况变化对拖体姿态有显著影响,其俯仰角和横滚角均会发生大范围波动。加载模糊自适应PID控制器后,拖体通过自主调节,能够使姿态波动控制在较小范围,从而满足工作要求,验证了拖缆数学模型的正确性和所采用的控制方法的可行性。

Research on Attitude State Control of Self-stabilizing Secondary Towed Vehicle

Two-part towed system is easier to control and can reduce the disturbance of the towing ship, which is also an important marine detection platform. The stable attitude state of the secondary towed vehicle is the basic precondition of the accuracy of detection data in actual work condition. The control of attitude state of the secondary towed vehicle which has automatic regulation mechanism is studied in this paper. Firstly, a spring-damper model of the secondary towed cable system is established, and the mathematical model of two-part towed system is established based on the previous model. Then a self-adaptive fuzzy PID controller for the secondary towed vehicle is designed considering the strong nonlinearity and time-varying characteristics of the system, in order to control the attitude state under different working conditions. From simulation results, it could be seen that the change of sea state has significant influence on the attitude state of the secondary towed vehicle, and the fluctuation range of pitch and roll is very large, when the vehicle is working without controller. After the self-adaptive fuzzy PID controller is uploaded, the fluctuation range is much smaller because of the self-regulation, and can satisfy actual requirement. The validity of mathematical model of towed cable and the feasibility of the adopted controller is verified.