浪流扰动下脐带缆动力学响应分析与ROV轨迹跟踪控制OA

To address the trajectory deviation of remotely operated vehicles(ROVs)during operations in complex environments-caused by the nonlinear towing of a negative-buoyancy umbilical cable and the transient impact of ocean waves-the dynamic response of the umbilical cable and an anti-disturbance trajectory tracking control method are investigated.First,a dynamic model of the umbilical cable is established using the lumped-mass method and the Morison equation,and the time-varying tension and towing-disturbance characteristics under typical operating conditions are analyzed with the OrcaFlex software.Second,an improved line-of-sight(ILOS)guidance law is designed to achieve dimensionality reduction,decoupling,and guidance of the three-dimensional trajectory;a linear extended state observer(LESO)is introduced to perform real-time estimation and feedforward compensation of the unknown composite disturbances arising from cable towing forces and the wave-current field,and a power-rate sliding mode control(PRSMC)is combined to smooth the control output and suppress high-frequency chattering.Finally,a co-simulation platform based on MATLAB and OrcaFlex is built for closed-loop verification.Simulation results show that,in tracking a complex polyline trajectory,the proposed control method reduces the mean absolute errors(MAEs)of the three degrees of freedom by 28.40%,27.95%,and 49.78%,respectively,compared with conventional sliding mode control(SMC).The results indicate that,under complex trajectories and multi-source composite disturbances,the proposed control algorithm can accurately observe and compensate in real time for the unknown current-cable coupled disturbances,effectively reducing steady-state error and system chattering,and achieving good tracking accuracy and strong robustness.This study can provide a reference for the design and application of anti-disturbance control systems for ROVs in strongly disturbed environments.