Control System Of Autonomous Underwater Vehicle Based On Active Disturbance Rejection Control

With the status of marine resources in modern society is becoming increasingly important, as an important tool for exploration and exploitation of marine resources,Autonomous Underwater Vehicle is becoming increasingly high research value, how to control Autonomous Underwater Vehicle perfectly is a problem urgently needed to be solved,also the technical support of Autonomous Underwater Vehicle to complete the exploration and exploitation of marine. However, Autonomous Underwater Vehicle has features like highly nonlinear, coupled, and ever-changing model exposed to severe external disturbance, which have greatly hampered the control of Autonomous Underwater Vehicle. In order to make the Autonomous Underwater Vehicle control reach the desired requirements, improve the robustness and stability of the Autonomous Underwater Vehicle control, this paper made a profound research on active disturbance rejection control(ADRC) technology and improvement based on ADRC control technology, the application of ADRC and improved ADRC were studied.First, established earth-fixed and body-fixed coordinate system of the Autonomous Underwater Vehicle, forces of Autonomous Underwater Vehicle when running in the marine environment are analyzed, established the Autonomous Underwater Vehicle DOF motion model in marine environment and the marine environment interference model.Then, analyzed the shortcomings of traditional PID controller in modern industry and improve methods, described the ADRC control technology, discussed the tracking differentiator, extended state observer and nonlinear state error feedback, given the second-order ADRC discrete structures and algorithms, and a brief description of the ADRC applications.Given the design ideas of ADRC, the principle of ADRC parameters, and verified the influence of each parameters on the ADRC control effect. Simulink in MATLAB was adopted to construct ADRC. On the basis of the Autonomous Underwater Vehicle DOF motion model,got AUV heading control model and the depth of the control model. Heading control and depth control of Autonomous Underwater Vehicle were simulated, and the effect of the PID control were compared and analyzed.Finally, the improve method of ADRC is proposed, designed better controller-WNN ADRC and improved ADRC based on penalty term. Simulation results show the improved ADRC get better control effect.