CAJ | 학술논문

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。
침대AUV불가피면적횡곤운동인기적부앙화편항운동간적우합효응，제출료기우RS-LSSVM적종합해우공제방법。수선분석건립료AUV적부앙-편항모형，병구건료RS-LSSVM해우공제모형，중점연구기해우공제방법。이모형호적AUV위연구대상，착중대비령횡곤각인기적부앙여편항간적우합진행해우공제방진，기결과여표준PID해우공제방진결과대비표명，해방법유효지소제료부앙화편항운동적우합，위AUV적해우공제제공료일충신적방법。
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 .