基于四元数的全驱动碟形AUV单矢量反馈控制

doi:10.11959/j.issn.2096-6652.202251

智能科学与技术学报 ›› 2022, Vol. 4 ›› Issue (4): 513-521.doi: 10.11959/j.issn.2096-6652.202251

基于四元数的全驱动碟形AUV单矢量反馈控制

许一航¹, 刘剑¹, 孙长银¹^,²

¹ 东南大学自动化学院，江苏南京 210096
² 安徽大学人工智能学院，安徽合肥 230031

修回日期:2022-11-13 出版日期:2022-12-15 发布日期:2022-12-01
作者简介:许一航（1997- ），男，东南大学自动化学院博士生，主要研究方向为水下机器人控制技术、水下伺服驱动技术
刘剑（1992- ），男，博士，东南大学自动化学院副研究员，主要研究方向为自主无人系统协同控制、固定时间控制
孙长银（1975- ），男，博士，安徽大学党委常委、副校长，二级教授、博士生导师，自主无人系统技术教育部工程中心主任。中国高等教育学会科技服务专家指导委员会副主任，中国自动化学会会士、常务理事、副秘书长、人工智能与机器人教育专委会主任，《智能科学与技术学报》副主编。主要研究方向为自主无人系统协同控制、智能控制理论及其应用、非线性系统分析与优化、模式识别等
基金资助:
国家自然科学基金资助项目(61921004);国家自然科学基金资助项目(62103099);江苏省前沿引领技术基础研究专项(BK20202006);中央高校基本科研业务费(2242022R42003)

Quaternion-based single-vector feedback control for fully-actuated dish-shaped AUV

Yihang XU¹, Jian LIU¹, Changyin SUN¹^,²

¹ School of Automation, Southeast University, Nanjing 210096, China
² School of Artificial Intelligence, Anhui University, Hefei 230031, China

Revised:2022-11-13 Online:2022-12-15 Published:2022-12-01
Supported by:
The National Natural Science Foundation of China(61921004);The National Natural Science Foundation of China(62103099);Natural Science Foundation of Jiangsu Province of China(BK20202006);The Fundamental Research Funds for the Central Universities(2242022R42003)

摘要/Abstract

摘要：

提出了一种基于四元数的单向量反馈自治式潜水器（AUV）位姿控制算法，使用向量表示控制量和姿态或位置的误差。此算法突破了欧拉角姿态下存在姿态死区的局限，解决了 AUV 任意方向多圈旋转问题。使用该算法实现了全驱动碟形AUV的位置和姿态控制。利用MATLAB的SIMSCAPE工具箱建立碟形AUV模型，并使用离散数字控制器进行仿真，验证了算法的稳定性。实验结果表明，在碟形 AUV 的位姿控制任务中，四元数反馈控制算法可以使碟形 AUV 系统在外部控制的作用下，从一个任意状态到达状态空间中的另一个任意状态。本算法将机体姿态视为单个闭环，相比基于欧拉角的控制方案，收敛域更大、参数更少，降低了实际设备的调试难度，在工程应用中更加便利。

关键词: 四元数反馈, 全驱动系统, 碟形AUV

Abstract:

The single vector quaternion feedback control algorithm for the Special Topic: Autonomous Underwater Vehicle (AUV) was proposed, which used vectors to represent control input and attitude errors.This algorithm solved the attitude dead zone and multi-turn rotation problem in Euler angle attitude.The above algorithm could realize the attitude and position control in a fully-actuated dish-shaped AUV.In order to demonstrate the efficacy of the algorithm mentioned, the physical model of the dish-shaped AUV was built in the simulation and a digital controller was designed based on quaternion feedback.The experimental results showed that the quaternion feedback control algorithm could make the dish-shaped AUV system move from one arbitrary state to another arbitrary state in the state space.The algorithm regarded the body attitude or position as a single closed loop, thus having larger convergence domain and requiring fewer parameters to tuning than the scheme using Euler angles, which made the debugging of dish-shaped AUV control parameters easier and more convenient in engineering application.

Key words: quaternion feedback, fully-actuated system, dish-shaped AUV

中图分类号:

TP242.3

许一航,刘剑,孙长银. 基于四元数的全驱动碟形AUV单矢量反馈控制[J]. 智能科学与技术学报, 2022, 4(4): 513-521.

Yihang XU,Jian LIU,Changyin SUN. Quaternion-based single-vector feedback control for fully-actuated dish-shaped AUV[J]. Chinese Journal of Intelligent Science and Technology, 2022, 4(4): 513-521.

图/表 7

图1

图2

图3

表1

碟形AUV物理参数"

物理量	数值	单位
m	9.4	kg
g	9.8	N/m ²
d_V	0.25	m
d_P	0.25	m
$ζ_{x}, ζ_{y}, ζ_{z}$	0.5	N · m/(deg/s)
$η_{x}, η_{y}, η_{z}$	0.6	N/(m/s)
I_x,I_y	0.1847	kg · m ²
I_z	0.2749	kg · m ²

表1

图4

图5

图6

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基于四元数的全驱动碟形AUV单矢量反馈控制

Quaternion-based single-vector feedback control for fully-actuated dish-shaped AUV

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