Adaptive sliding mode heading control of unmanned semi-submersible surveying vehicle
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摘要: 海洋是高质量发展的战略要地，海洋监测则是认识海洋、发展海洋的重要支撑技术. 随着 “一带一路”等海洋强国战略的不断实施，对海洋测量装备提出了更高的要求. 为此，利用全球定位系统/北斗卫星导航系统(GPS/BDS)组合系统和电子罗盘提供高精度位置和艏向信息，并搭载监测器件，将新型半潜式无人艇应用于海洋环境监测. 针对路线巡航中半潜式无人艇模型参数不确定和环境干扰对艏向监测的可靠性和稳定性的影响，结合滑模控制(SMC)的强鲁棒性与自适应控制的高适应性设计了一种自适应滑模控制(ASMC)方法. 理论分析和仿真实验证明，ASMC的可行性和有效性，比传统的比例微分(PD)控制具有更好的适应性和鲁棒性，而且系统瞬态性能和稳定性良好. 将设计的ASMC方法应用于实际监测中，试验结果表明：控制效果稳定，测量数据真实可靠，提高了测量效率.
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关键词:
- 海洋监测 /
- 半潜式无人艇 /
- 艏向控制 /
- 全球定位系统/北斗卫星导航系统(GPS/BDS) /
- 电子罗盘 /
- 自适应滑模控制(ASMC)
Abstract: The ocean is a strategic important for the national high-quality development, and marine monitoring is an important way to understand and develop the ocean. With the continuous implementation of Marine power strategy such as "One Belt And One Road", higher requirements are put forward for Marine surveying equipment. Therefore, using the combined GPS/BDS system and electronic compass to provide high-precision position and heading information, and equipped with monitoring devices, the new unmanned semi-submersible vehicle is applied to marine environmental monitoring. Aiming at the influence of uncertain model parameters and environmental disturbance on the reliability and stability of the heading monitoring of unmanned semi-submersible vehicle, an adaptive sliding mode control (ASMC) method was designed based on the strong robustness of sliding mode control (SMC) and the high adaptability of adaptive control. Theoretical analysis and simulation experiments show that the ASMC is feasible and effective, and has better adaptability and robustness than the traditional proportional plus denriva tive (PD) control, and the system has good transient performance and stability. The designed adaptive sliding mode control method is applied to actual marine monitoring, and the test results show that the control effect is stable, the surveying data is real and reliable, and the surveying efficiency is improved. -
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