引用本文:杜欢,范国梁,易建强.水上无人机自主着水控制系统设计[J].控制理论与应用,2015,32(10):1305~1315.[点击复制]
DU Huan,FAN Guo-liang,YI Jian-qiang.Autonomous landing control system design for an unmanned seaplane[J].Control Theory and Technology,2015,32(10):1305~1315.[点击复制]
水上无人机自主着水控制系统设计
Autonomous landing control system design for an unmanned seaplane
摘要点击 2209  全文点击 2068  投稿时间：2015-05-15  修订日期：2015-08-01
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DOI编号  10.7641/CTA.2015.50405
  2015,32(10):1305-1315
中文关键词  水上无人机，自主着水控制，高海况，速度控制，姿态控制
英文关键词  unmanned seaplane, autonomous landing control, severe sea states, velocity control, attitude control
基金项目  国家自然科学基金项目(61273336, 61203003, 61273149, 61421004)资助.
作者单位E-mail
杜欢 中国科学院自动化研究所 huan.du@ia.ac.cn 
范国梁* 中国科学院自动化研究所 guoliang.fan@ia.ac.cn 
易建强 中国科学院自动化研究所  
中文摘要
      针对水上无人机在高海况下的着水问题, 本文在分析了不同着水阶段特性的基础上, 提出了一种自主着水 控制系统设计方案. 该方案将整个系统分为速度控制子系统和姿态控制子系统. 速度控制子系统包含速度动态逆控 制器和油门切换模块, 姿态控制子系统包含海浪滤波器俯仰角反步控制器、高度PID控制器、俯仰角切换模块 和T-S模糊推理模块. 其中, 海浪滤波器能有效滤除受扰姿态角中的海浪高频扰动, 避免了着水之后舵面的频繁抖 动; 俯仰角反步控制器采用指令滤波的反步法设计, 有效缓解了高海况下的舵面饱和问题. 最后, 在不同海况条件下 进行了仿真. 仿真结果表明所设计的控制系统具有良好的控制性能.
英文摘要
      For landing of an unmanned seaplane in severe sea states, we propose a new autonomous landing control system design scheme, based on the analysis of the characteristics in different landing phases. This scheme divides the total system into a velocity control subsystem and an attitude control subsystem. The velocity control subsystem consists of a velocity dynamic inversion controller and a throttle switch module, while the attitude control subsystem consists of a wave filter, a pitch angle backstepping controller, an altitude PID controller, a pitch angle switch module and a T-S fuzzy reasoning module. The wave filter can effectively filtrate the wave-frequency motion from the disturbed attitude angle, avoiding the chattering of the elevator after landing. The command filtered backstepping method is used to design the pitch angle controller, which can reduce the actuator saturation in severe sea states. Finally, simulations are performed in different wave conditions. Results show that the designed control system has satisfactory performance.