一类载人潜水器的改进LQG控制研究

针对一类载人潜水器(MSV,MannedSubmersibleVehicle)在动力定位中多自由度之间存在的强耦合、非线性,以及系统参数的时变特性,文章采用带遗忘因子的递推最小二乘法和平方根法对系统参数进行辨识,然后在状态空间进行多输入多输出(MIMO)线性系统的最优控制研究。仿真结果表明,该两种改进LQG控制方法对于外界扰动以及系统的参数时变具有良好的控制效果,控制精度得到提高,为实际载人潜水器控制系统的多自由度动力定位控制提供了坚实的依据。

Due to the couple, nonlinear, and time-variety characteristic of a class of manned submersible vehicle (MSV) between their multiple DOFs in dynamic positioning (DP), the method of modified LQG (MLQG) controller was designed. After recursive least square with forgetting factor algorithmic and square root algorithmic compared, the LQG optimal control method in state space was used in the MSV MIMO (multiple input multiple output) system. The simulation results show that the two kinds of MLQG controllers have better control effect when the system parameter changes. And this study results will provide solid foundation in further reality of the MSV DP software controller.

国家“十五”863重大专项课题资助项目(2003AA401000)