Using an Active Disturbance Rejection Decoupling Control Algorithm to Improve Operational Performance for Underwater Glider Applications
Using an Active Disturbance Rejection Decoupling Control Algorithm to Improve Operational Performance for Underwater Glider Applications
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DOI：
10.2112/jcoastres-d-17-00006.1
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发表时间：
2018-05
影响因子：
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通讯作者：
Dalei Song;Tingting Guo;Wei-cheng Sun;Qian-li Jiang;Hua Yang
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文献类型：
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作者：
Dalei Song;Tingting Guo;Wei-cheng Sun;Qian-li Jiang;Hua Yang
宋博士；郭、t;太阳,w;蒋强，杨慧，2018。采用自抗扰解耦控制算法提高水下滑翔机的运行性能。水下滑翔机是一个大时滞、时变、非线性、强耦合的控制系统，可用于各种水下环境监测。为了解决滑翔机俯仰角与速度之间的耦合问题，提高控制精度，缩短能量消耗的沉降时间，提出了一种基于自抗扰控制（ADRC）的动态表面解耦控制算法。通过引入动态面解耦控制律和一阶低通滤波器，提高控制精度，减少计算量，采用基于自抗扰的解耦算法解决水下滑翔机的耦合控制问题。结合水下滑翔机的运动数学方程和运动学方程，将DSDC-ADRC算法植入到控制器中。仿真试验和海上试验表明，与比例、积分和微分（PID）算法相比，该算法的超调量降低了20%，沉降时间为100 s。海上试验表明，减少超调量和沉降时间可以节省23%的电池能量，使航行距离比以前延长29.9%。
ABSTRACT Song, D.; Guo, T.; Sun, W.; Jiang, Q., and Yang, H., 2018. Using an active disturbance rejection decoupling control algorithm to improve operational performance for underwater glider applications. The underwater glider is a large time-delaying, time-varying, nonlinear, and strong coupling control system that allows for various submarine environmental monitoring applications. To solve the coupling problem between pitch angle and velocity, improve control accuracy, and reduce settling time for energy consumption for the glider, a dynamic surface decoupling control (DSDC) algorithm based on the active disturbance rejection control (ADRC) is described in this paper. By importing the dynamic surface decoupling control law and first-order low-pass filter to improve control precision and reduce the number of calculations, a decoupling algorithm based on ADRC was used to solve the coupled control problem for an underwater glider. Combining the mathematical equation for motion and the kinematic equation for an underwater glider, the DSDC-ADRC algorithm was implanted into the controller. Simulation tests and sea trials showed that it reduced overshoot by 20% and had a 100 s settling time compared with the proportion, integration, and differentiation (PID) algorithm. Sea trials indicated that the decreased overshoot and settling time could save 23% battery energy, which would extend the sail distance 29.9% further than before.