水下试验平台高精度定位系统研究

中国机械工程 ›› 2014, Vol. 25 ›› Issue (8): 1021-1027.

水下试验平台高精度定位系统研究

曾志林1;徐国华1;徐兵2;赵春城1

1.华中科技大学,武汉,430074
2.武汉船用机械有限责任公司,武汉,430084

出版日期:2014-04-25 发布日期:2014-05-06
基金资助:
国防条保重大专项(026114024)

Research on High-precision Positioning System of an Underwater Platform

Zeng Zhilin1;Xu Guohua1;Xu Bing2;Zhao Chuncheng1

1.Huazhong University of Science and Technology,Wuhan,430074
2.Wuhan Marine Machinery Plant Co., Ltd., Wuhan,430084

Online:2014-04-25 Published:2014-05-06

摘要/Abstract

摘要：

针对水下试验平台快速下潜及精确调平的需求,设计了一种具有粗调和微调工作模式的水下高精度液压位置伺服系统。分析了液压系统的基本组成及原理,建立了其位置控制模型。采用自适应反步控制设计方法克服了液压系统的参数不确定性和非线性。选用最低点不动的追逐式控制策略,避免了液压系统在平台下潜和调平过程中出现的超越负载工况。仿真和试验结果表明,所设计的控制器具有良好的鲁棒性,液压系统能够实现高精度位置伺服控制。

关键词: 液压位置伺服系统, 超越负载, 自适应反步控制, 最低点不动

Abstract:

A high precision underwater hydraulic position servo system with coarse and fine tune work mode was designed for quick diving and high precision leveling of an underwater experimental platform. The basic composition and principles of the hydraulic system were analyzed, and the positioning model was established. An adaptive backstepping control method was used to overcome the parametric uncertainty and nonlinear characteristics of the hydraulic system. In order to avoid the over-running load conditions of the hydraulic system during the diving and leveling processes, the “lowest point fixed” scheme called “chase” was chosen. The simulation and experimental results indicate the robustness of designed controller, and the hydraulic system can realize high precision position servo control.

Key words: hydraulic position servo system, over-running load, adaptive backstepping control, lowest point fixed

中图分类号:

TP242.3

曾志林, 徐国华, 徐兵, 赵春城. 水下试验平台高精度定位系统研究[J]. 中国机械工程, 2014, 25(8): 1021-1027.

Zeng Zhilin, Xu Guohua, Xu Bing, Zhao Chuncheng. Research on High-precision Positioning System of an Underwater Platform[J]. China Mechanical Engineering, 2014, 25(8): 1021-1027.

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