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浙江大学学报(工学版)
浙江大学学报(工学版)  2022, Vol. 56 Issue (11): 2127-2134    DOI: 10.3785/j.issn.1008-973X.2022.11.003
机械与能源工程     
AUV平面直线航迹跟踪控制算法
叶梦佳1,2(),王宇轩2,王赟2,赖周年3,曹琳琳2,吴大转1,2,*()
1. 流体动力与机电系统国家重点实验室，浙江 杭州 310027
2. 浙江大学 能源工程学院，浙江 杭州 310027
3. 浙江大学湖州研究院，浙江 湖州 313000
Straight-line path tracking control algorithm of AUV planar motion
Meng-jia YE1,2(),Yu-xuan WANG2,Yun WANG2,Zhou-nian LAI3,Lin-lin CAO2,Da-zhuan WU1,2,*()
1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
2. College of Energy Engineering, Zhejiang University, Hangzhou 310027, China
3. Institute of Huzhou, Zhejiang University, Huzhou 313000, China
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摘要：

针对自主水下航行器（AUV）在平面直线航迹跟踪过程中的航迹超调问题，设计基于航向航速双闭环运动控制的航迹跟踪控制算法. 跟踪算法以视线导引法（LOS）为基础，设计时变前视距离提高AUV的机动性，并以一阶惯性滤波抑制因航向切换产生期望航向角的阶跃变化. 控制算法采用抗积分饱和PID控制及参数自适应，以增加算法的鲁棒性，并将航向航速控制设计成双闭环，使得 AUV航行时期望航迹段终点的距离偏差实时调整期望航速. 结果表明，此航迹跟踪控制算法根据距离偏差调节实时航速，可使AUV提前减速以低速转向，抗积分饱和可避免航速超调，参数自适应以适应多种航行工况. AUV能准确跟踪期望航迹，最大航迹偏差小于1.0 m，并且大角度转向时可有效减小航迹超调.
关键词： 自主水下航行器;  航迹跟踪;  视线导引法;  抗饱和积分;  双闭环控制    
Abstract:

A path tracking control algorithm based on the dual closed-loop motion control of heading and speed was designed to solve the overshoot of autonomous underwater vehicles (AUV) in the plane straight-line path tracking problem. The tracking algorithm followed the line-of-sight (LOS) guidance law. The design of the time-varying forward-looking distance was selected to increase the maneuverability of AUV. The first-order inertial filter was used to suppress the step change of the expected heading angle. The control algorithm adopted anti-integral saturation PID control and the parameter self-adaptation were adopted to increase the robustness of the control algorithm. The heading and speed control was designed as a double closed-loop to adjust the AUV speed according to the distance deviation from the end of the desired path. The results show that the path tracking control algorithm adjusts the real-time speed according to the distance deviation, which makes the AUV decelerate in advance and turns at low speed, the anti-integral saturation avoids the speed overshoot and the parameter is adaptive for the variety of condition. The AUV accurately tracks the desired path with a maximum deviation of less than 1.0 m and the tracking overshoot effectively reduces at large turning angles.
Key words: AUV    path tracking    line-of-sight guidance law    anti-integral saturation    double-loop control
收稿日期: 2021-11-26 出版日期: 2022-12-02
CLC:  TP 242  
基金资助: 流体动力与机电系统国家重点实验室主任基金资助项目
通讯作者: 吴大转     E-mail: mengjia_ye@zju.edu.cn;wudazhuan@zju.edu.cn
作者简介: 叶梦佳（1998—），女，硕士生，从事AUV运动控制研究. orcid.org/0000-0003-3872-3899. E-mail： mengjia_ye@zju.edu.cn
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引用本文:

叶梦佳,王宇轩,王赟,赖周年,曹琳琳,吴大转. AUV平面直线航迹跟踪控制算法[J]. 浙江大学学报(工学版), 2022, 56(11): 2127-2134.

Meng-jia YE,Yu-xuan WANG,Yun WANG,Zhou-nian LAI,Lin-lin CAO,Da-zhuan WU. Straight-line path tracking control algorithm of AUV planar motion. Journal of ZheJiang University (Engineering Science), 2022, 56(11): 2127-2134.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2022.11.003    或    https://www.zjujournals.com/eng/CN/Y2022/V56/I11/2127

图 1  AUV平面坐标系示意图
图 2  视线导引原理
图 3  AUV平面直线航迹跟踪控制算法流程图
图 4  AUV航向PD控制框图
图 5  AUV航速PID控制框图
图 6  AUV航向航速双闭环控制框图
图 7  距离双闭环算法中期望航速系数与位置偏差的变化关系
图 8  角度双闭环和距离双闭环航迹跟踪仿真结果对比
图 9  角度双闭环和距离双闭环算法航速变化对比
图 10  角度双闭环和距离双闭环算法电机和舵机输出值对比
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