Anti-saturation compensation method for underwater high-speed vehicle actuator

A compensation method and the technology of the flying body, which are applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problems of system performance index deterioration and control precision reduction, and achieve the effect of improving stability

Active Publication Date: 2019-09-17
HARBIN ENG UNIV
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Problems solved by technology

Actuator saturation will deteriorate the performance index of the system and lower the control accuracy

Method used

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  • Anti-saturation compensation method for underwater high-speed vehicle actuator
  • Anti-saturation compensation method for underwater high-speed vehicle actuator
  • Anti-saturation compensation method for underwater high-speed vehicle actuator

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] The purpose of the present invention is to propose an anti-saturation compensation method for an underwater high-speed vehicle actuator, and the designed compensator can weaken the influence of saturation nonlinearity on system performance. The method mainly consists of three parts, including the dynamic model of the underwater high-speed vehicle, the design of the dynamic linear feedback controller, and the design of the anti-saturation compensator.

[0033] An anti-saturation compensator for an underwater high-speed vehicle actuator, characterized in that the system is composed of the following parts: a longitudinal motion module of an underwater high-speed vehicle; a feedback linearization controller module for longitudinal motion that does not consider saturation; a performance index calculation module; Anti-saturation compensation module; saturation detecti...

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Abstract

The invention discloses an anti-saturation compensation method for an underwater high-speed vehicle actuator, and belongs to the technical field of ship engineering, control science and control engineering. An anti-saturation compensator system for the underwater high-speed vehicle actuator comprises an underwater high-speed vehicle longitudinal movement module, a longitudinal movement feedback linearization controller module which does not consider saturation, a performance index calculation module, an anti-saturation compensation module, a saturation detection module and a compensation effect simulation storage module. A design method for the anti-saturation compensator system comprises the following steps that: firstly, according to the Newton's laws of motion and the theorem of moment of momentum, establishing a kinetic model for underwater high-speed movement body longitudinal movement; then, according to the design steps of the feedback linearization controller, designing the controller; and finally, designing the anti-saturation compensator. By use of the compensator designed by the invention, the influence of saturation nonlinearity on system performance can be weakened, and the underwater navigation stability of the underwater high-speed vehicle is improved.

Description

technical field [0001] The invention belongs to the technical fields of ship engineering, control science and control engineering, and in particular relates to an anti-saturation compensation method for an actuator of an underwater high-speed navigation body. Background technique [0002] The actuator saturation of the system usually increases the output error of the system, reduces the tracking performance, lengthens the adjustment time, and even leads to the instability of the closed-loop system. Therefore, for the actual system, the actuator should be compensated to enhance the stability of the system . For the underwater high-speed vehicle, there is also the saturation problem of the actuator during the stable navigation and maneuvering navigation of the vehicle. When the control command of the control system exceeds the opening range of the actuator, the saturation phenomenon occurs, and the saturation of the actuator makes the system The deviation between the actual o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 赵新华王越杜泽帅叶秀芬
Owner HARBIN ENG UNIV
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