Depth control for a deep-sea self-holding intelligent buoy system based on active disturbance rejection control method

作     者：QIU Zu-rong WANG Qiang YANG Shao-bo LI Hong-yu LI Xing-fei 裘祖荣;王强;杨少波;李洪宇;李醒飞

作者机构：State Key Laboratory of Precision Measurement Technology and InstrumentsTianjin UniversityTianjin 300072China Qingdao Institute for Ocean Technology of Tianjin UniversityQingdao 266235China School of Mechanical and Electrical EngineeringShandong University of Science and TechnologyQingdao 266590China 

基　　金：Wenhai Program of Qingdao National Laboratory for Marine Science and Technology(No.ZR2016WH01) Tianjin Marine Economic Innovation and Development of Regional Demonstration Projects of State Oceanic Administration(No.BHSF2017-27) 

出 版 物：《Journal of Measurement Science and Instrumentation》 (测试科学与仪器（英文版）)

年 卷 期：2020年第11卷第4期

页      码：307-316页

摘      要：The net buoyancy of the deep-sea self-holding intelligent buoy(DSIB)will change with depth due to pressure hull deformation in the deep submergence *** net buoyancy changes will affect the hovering performance of the *** make the DSIB have better resistance to the external disturbances caused by the net buoyancy and water resistance,a depth controller was designed to improve the depth positioning based on the active disturbance rejection control(ADRC).Firstly,a dynamic model was established based on the motion analysis of the *** addition,the extended state observer(ESO)and nonlinear state error feedback controller were designed based on the Lyapunov stability ***,semi-physical simulations for the depth control process were made by using the ADRC depth controller and traditional PID depth controller,*** results of the semi-physical simulations indicate that the depth controller based on the ADRC can achieve the predefined depth control under the external *** with the traditional PID depth controller,the overshoot of the ADRC depth controller is 1.74%,and the depth error is within 0.5%.It not only has a better control capability to restrain the overshoot and shock caused by the external disturbances,but also can improve intelligence of the DSIB under the depth tracking task.

主 题 词：deep-sea self-holding intelligent buoy(DSIB) active disturbance rejection control(ADRC) depth control buoyancy change pressure hull deformation 

学科分类：08[工学] 0802[工学-机械学] 0835[0835] 080201[080201] 

核心收录：

D　O　I：10.3969/j.issn.1674-8042.2020.01.001

馆 藏 号：203990819...