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中南大学学报(自然科学版)

Journal of Central South University

第49卷    第3期    总第283期    2018年3月

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文章编号:1672-7207(2018)03-0612-06
主动式水下拖曳升沉补偿系统的非线性控制
李世振,魏建华,胡波,李盛茂

(浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州,310027)

摘 要: 针对主动式水下拖曳升沉补偿系统的非线性时变负载特性,设计一种基于扩展扰动观测器的非线性鲁棒位移控制器。在该控制系统中,将扰动负载分成时变的未知负载与可以建模的负载2部分,并考虑系统动力学的非线性特性,采用滑模控制技术补偿观测器估计误差,通过递推反步法设计主动式升沉补偿器的非线性鲁棒运动控制系统。基于实测的3~4级海况下母船升沉位移对所设计的主动式升沉补偿器开展实验研究。研究结果表明,所设计的控制器在存在负载扰动的情况下实现了精确、迅速且具有强鲁棒性的运动补偿控制,基于本文控制算法的主动升沉补偿器使负载最大升沉位移波动范围由1.40 m衰减至0.01 m,同时缆绳张力最大波动范围由15 kN衰减至1 kN以内,表现出良好的升沉补偿性能。

 

关键词: 主动升沉补偿;扩展扰动观测器;非线性控制;位移控制;水下拖曳系统

Nonlinear control of active heave compensator for an underwater towed system
LI Shizhen, WEI Jianhua, HU Bo, LI Shengmao

State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China

Abstract:To reduce the adverse effect of the unexpected vessel heave variation on the response of the underwater payloads, an active heave compensation system with a disturbance observer based nonlinear robust controller was designed. The proposed method was mainly focused on the disturbance arising from heave motion, which was divided into two parts. In addition, the outer position tracking loop was designed with sliding mode control to compensate for disturbance estimation error, and the inner pressure control loop provided the active heave compensator the force generator via back-stepping technique. Theoretically, the robust transient performance and steady-state control accuracy of the heave compensation system can be guaranteed by the controller. The active heave compensator with proposed controller was tested thoroughly on an experiment set based on the real measured heave data under 3-4 sea conditions. The results show that using the proposed controller achieves fast and precise tracking control, and the heave motion compensation performance is robust to unknown disturbance. The heave motion of the payload is attenuated from 1.40 m to 0.01 m with the irregular wave induced disturbance and the tension fluctuation of the cable range is suppressed to 1 kN from the original 15 kN.

 

Key words: active heave compensation; extended disturbance observer; nonlinear control; position tracking control; underwater towed system

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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