复合干扰下载人潜水器的全阶滑模控制
Full-order sliding-mode control of manned submersible in the presence of lumped disturbances
摘要点击 116  全文点击 132  投稿时间:2018-04-21  修订日期:2018-10-08
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DOI编号  10.7641/CTA.2018.80288
  2018,35(11):1626-1634
中文关键词  干扰抑制  滑模控制  非线性干扰观测器  载人潜水器
英文关键词  disturbance rejection  sliding mode control  nonlinear disturbance observer  manned submersible
基金项目  国家自然科学基金项目(61803182, 61703118, 61773183), 江苏省自然科学基金项目(BK20180593)资助.
学科分类代码  41310
作者单位E-mail
方星 江南大学 xingfang@jiangnan.edu.cn 
刘飞 江南大学  
高翔 国家深海基地管理中心  
中文摘要
      针对蛟龙号载人潜水器(JIAOLONG)在运行过程中受到深海洋流、模型不确定性和未建模动态等因素影 响, 本文设计了一种基于干扰观测器的新型全阶滑模控制(disturbance-observer based full-order sliding mode control, DOB–FOSMC)方法. 首先, 建立载人潜水器系统的动力学模型; 然后, 设计扩展非线性干扰观测器估计系统的复合 扰动; 其次, 设计能够描述潜水器完整动态特性的全阶滑模面, 从而得到滑模控制律, 并给出闭环控制系统的稳定性 分析; 最后, 通过数值仿真验证控制方法的有效性和优越性. 基于干扰观测器的全阶滑模控制方法的优越性主要体 现在: 能够描绘载人潜水器的全阶动态特性, 并且有效抑制抖振现象.
英文摘要
      In this paper, a novel disturbance-observer based full-order sliding mode control (DOB--FOSMC) method is proposed for the JIAOLONG manned submersible in the presence of external disturbances, model uncertainties, and un-modeled dynamics. First of all, a six-degree-of-freedoms (DOFs) dynamic model of the manned submersible system is presented. Then, an extended nonlinear disturbance observer is employed to estimate the lumped disturbances. In addition, a full-order sliding mode surface that is able to illustrate the full dynamics of the manned submersible is designed. And the sliding mode control law is developed for the manned submersible system. Furthermore, the stability analysis of the closed-loop system is given based on the Lyapunov theory. Finally, some comparative simulation results are presented to demonstrate the effectiveness and superiority of the proposed DOB--FOSMC method for manned submersible system. This novel DOB--FOSMC method has two key advantages: its capabilities to illustrate the full dynamics of systems and to suppress the chattering phenomenon.