【摘要】 针对自主水下潜航器（AUV）在近距离水下回收过程中对接姿态稳定控制的需求，在建立AUV空间运动数学模型的基础上，设计一款姿态跟踪的自抗扰控制器（ADRC），并对干扰补偿通道进行平滑低通滤波优化。通过对系统总扰动进行实时估计和补偿，实现对姿态误差的控制调整。以常值、阶跃扰动、高频正弦扰动3种波形作为预设姿态值，在Matlab/Simulink中进行仿真对比实验。结果表明，相较于传统PID控制器，该控制系统具有较快的响应速度，同时能够有效抑制外界扰动，可用于AUV回收姿态控制。更多还原

【Abstract】 To meet the demand of docking attitude stabilization control of an autonomous underwater vehicle(AUV)during near-field underwater recovery, based on the mathematical model of AUV spatial motion, an active disturbance rejection controller(ADRC) for attitude tracking is designed and optimized with smooth low-pass filtering for its interference compensation channel. The control adjustment of the attitude error is realized by real-time estimation and compensation of the total system disturbance. Three waveforms of constant value, step disturbance, and high frequency sinusoidal disturbance are used as preset attitude values for simulation and comparison experiments in Matlab/Simulink. The results show that compared with the traditional PID controller, the control system has a faster response speed, and at the same time, it can effectively suppress the external disturbance and be used for attitude control during AUV recovery.更多还原