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论文:2013,Vol:31,Issue(4):614-619 |
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引用本文： |
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宋晓茹, 宋保维, 雷志勇, 梁庆卫. 基于RS-LSSVM的AUV耦合控制方法[J]. 西北工业大学 |
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Song Xiaoru, Song Baowei, Lei Zhiyong, Liang Qingwei. A New Method of AUV Control Based on RS-LSSVM for Suppressing Inevitable but Over looked Coupling[J]. Northwestern polytechnical university |
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| 基于RS-LSSVM的AUV耦合控制方法 |
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| 宋晓茹1, 宋保维1, 雷志勇2, 梁庆卫1 |
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1. 西北工业大学 航海学院, 陕西 西安 710072;
2. 西安工业大学 电子信息工程学院, 陕西 西安 710032 |
| 摘要: |
| 针对AUV不可避免的横滚运动引起的俯仰和偏航运动间的耦合效应,提出了基于RS-LSSVM的综合解耦控制方法。首先分析建立了AUV的俯仰-偏航模型,并构建了RS-LSSVM解耦控制模型,重点研究其解耦控制方法。以某型号的AUV为研究对象,着重对非零横滚角引起的俯仰与偏航间的耦合进行解耦控制仿真,其结果与标准PID解耦控制仿真结果对比表明,该方法有效地消除了俯仰和偏航运动的耦合,为AUV的解耦控制提供了一种新的方法。 |
| 关键词:
AUV
解耦控制
LSSVM
RS
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| A New Method of AUV Control Based on RS-LSSVM for Suppressing Inevitable but Over looked Coupling |
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| Song Xiaoru1, Song Baowei1, Lei Zhiyong2, Liang Qingwei1 |
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| College of Marine Engineering, Northwestern Polytechnical University, Xi'an, 710072, China |
| Abstract: |
| AUV (autonomous underwater vehicle) is playing a more and more important role in the world.Usually AUV attitude control system is divided into the non-interfering pitch motion control and yaw motion control.The coupling between them due to nonzero roll angle is always overlooked.But the unwanted roll excursions are actually inevitable;they can contribute to poor balance, diving and steering performance.Aiming at suppressing the inevita-ble coupling effect, we put forward a new decoupling control method based on RS-LSSVM, where RS stands for"rough sets" and LSSVM stands for "least squares support vector machine".Section 1 of the full paper briefs the pitch-yaw model of AUV.Subsection 2.1 deals with RS theory and subsection 2.2 deals with LSSVM model.Fig. 2 shows the establishment of RS-LSSVM model.Section 3 is the key topic.The RS-LSSVM comprehensive decou-pling controller model is shown in Figs.3 and 4.Section 4 gives simulation results respectively for RS-LSSVM and standard PID on a certain type of AUV, and then compares them.The simulation results in Figs.5 and 6 and their analysis show preliminarily that the RS-LSSVM decoupling controller is effective for suppressing the coupling be-tween pitch motion control and yaw motion control and that this controller provides high accurately and at the same time enhances greatly the operation rate, thus providing a new method for the precisely decupled control of AUV. |
| Key words:
algorithms
attitude control
autonomous underwater vehicles
computer simulation
degrees of freedom mechanics
equations of motion
least squares approximations
mathematics models
neural networks
optimization
rough set theory
schematic diagrams
support vector machines
tme varying systems
attribute reduction
decoupling control
Euler angle
nonzero roll
pitch-yaw
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| 收稿日期: 2012-10-28
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 宋晓茹(1978-),女,西北工业大学博士研究生,主要从事AUV智能导航控制及信息融合等研究。
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