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为了实现水下机器人带有剩余浮力影响的欠驱动深度控制,将垂直面控制划分为定速航行控制和深度控制.采用成熟的S面速度控制器保证速度控制稳定,着重解决深度控制问题.引入虚拟控制量,使剩余浮力影响下的深度偏差映射为目标纵倾角,通过设计俯仰控制器实现对目标纵倾角的跟踪.稳定性分析表明,所研究的欠驱动深度控制是稳定的,且对于参数估计的偏差不敏感.仿真实验结果表明,所提出的方法能够抵抗剩余浮力的影响,深度控制准确,并具有良好的鲁棒性.
In order to realize under-driven depth control of underwater robot with remaining buoyancy, the vertical plane control is divided into fixed-speed navigation control and depth control, and the mature S-plane speed controller is used to ensure the speed control is stable and the deep control problem is mainly solved. The virtual control volume can be used to map the depth deviation under the influence of residual buoyancy to the target pitch angle.The target pitch angle can be tracked by designing the pitch controller.The stability analysis shows that the underdeveloped depth control is stable, The estimated deviations are insensitive.The simulation results show that the proposed method can resist the influence of residual buoyancy, has accurate depth control and has good robustness.