• CN:11-2187/TH
  • ISSN:0577-6686

›› 2011, Vol. 47 ›› Issue (15): 37-43.

• 论文 • 上一篇    下一篇

基于能量优化的海洋机器人航向与横摇自适应终端滑模综合控制

金鸿章;高妍南;周生彬   

  1. 哈尔滨工程大学自动化学院;哈尔滨师范大学数学科学学院
  • 发布日期:2011-08-05

Adaptive Terminal-sliding-mode Combination Control for Heading and Rolling of Marine Robot Based on Energy Optimization

JIN Hongzhang;GAO Yannan;ZHOU Shengbin   

  1. College of Automation, Harbin Engineering University College of Mathematics, Harbin Normal University
  • Published:2011-08-05

摘要: 近水面运动是海洋机器人的一种重要运动姿态,由于近水面处波浪比较剧烈,机器人无法靠自身保持一定的姿态和航向,特别是在一阶波浪力这种高频周期力的作用下,海洋机器人将不可避免地产生横摇、纵摇、垂荡等摇荡运动,严重影响到海洋机器人的正常工作及安全性,因此必须加以有效的控制。基于此,利用解耦及线性化方法得到海洋机器人水平面非线性运动方程,并依据终端滑模控制理论和零航速减摇鳍工作原理设计针对航向保持和横摇减摇的控制器,使系统状态的跟踪误差在有限的时间内收敛为零,另外考虑到海浪干扰的随机性及海洋机器人自身可携带的能量是有限的,因此在控制器的设计中引入自适应机制,并利用遗传算法从能量优化的角度出发对控制器参数进行优化。仿真结果表明,机器人在减少了系统能量消耗的同时保持了航向并达到了有效地减摇控制,从而提高了近水面航行时海洋机器人操纵控制的性能。

关键词: 机器人, 减摇鳍, 能量优化, 终端滑模控制

Abstract: Near-surface motion is an important moving posture of marine robot. Because of the disturbance from wave, the robot cannot keep a certain posture and course by itself, especially under the action of high-frequency and periodic first-order wave force, the robot will inevitably make swing motions such as roll, yaw and heave. Therefore an effective controller must be applied for ensuring the normal operation and safety of marine robot. By using the decoupling method and linearization technique, the nonlinear equation of marine robot in horizontal plane can be obtained. Based on the theory of terminal sliding mode control and the principle of zero speed fin stabilizer, an adaptive controller for course keeping and roll damping is designed, which can make the system state tracking errors converge to zero in finite time. Genetic algorithm is used to optimize the controller parameters from the viewpoint of energy optimization. The simulation results show that the controller is effective and the energy consumption is reduced, thereby the control performance is enhanced when the marine robot advances near the water surface.

Key words: Energy optimization, Fin stabilizer, Robot, Terminal sliding mode control

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