潜水器控制采用线性二次高斯带回路传递恢复方法

D.L. Juul, M. McDermott, E. Nelson, D. M. Barnett, G. Williams
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引用次数: 8

摘要

本文介绍了一种采用线性二次高斯带环路传递恢复(LQG/LTR)方法的自主水下航行器(AUV)航向和深度自动控制系统的开发和测试。控制变量为舵角和艉面角。对不同转速和控制输入的非线性运动方程进行了线性化。基于所得到的线性化模型,开发了每个速度的补偿器,并应用增益调度来提供覆盖整个潜水速度范围的控制器。基于非线性运动方程对补偿器进行了计算机仿真测试,取得了满意的效果。
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Submersible control using the linear quadratic Gaussian with loop transfer recovery method
This paper describes the development and testing of an automatic control system for heading and depth control of an autonomous underwater vehicle (AUV) using the linear quadratic Gaussian with loop transfer recovery (LQG/LTR) method. The control variables were rudder angle and sternplane angle. The nonlinear equations of motion were linearized about various speeds and control inputs. Based on the resulting linearized model a compensator was developed for each speed and gain scheduling was applied to provide a controller that covered the entire range of submersible speeds. Compensator testing was performed using a computer simulation based on the nonlinear equations of motion and satisfactory performance was obtained.
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