基于自抗扰的双环路UUV航向角控制方法OA

A dual loop heading angle control method based on Active Disturbance Rejection(ADRC)is proposed to address the issue of degraded heading angle control quality caused by external disturbances such as ocean currents and waves and internal model uncertainties for unmanned underwater vehicles(UUV).Firstly,a six-degree-of-freedom dynamic and kinematic model and a horizontal plane dynamic model of the UUV are established.Then,a nonlinear controller is designed that combines ADRC with dual control loops.To tackle with the influences of internal and external nonlinear factors on system heading control,an extended state observer is used to observe and compensate for the"sum"disturbance.On the basis of the heading angle feedback control loop using ADRC,an inner loop of heading angle velocity is added,the sensitivity of the system to disturbances is reduced,and the transfer function of the controlled object is modified to provide a good controlled object model for the outer loop.Finally,the effectiveness of the control method is verified through simulation experiments.