全驱动型AUV三维路径跟踪控制系统设计及分析

Design and analysis of fully-actuated AUV's three-dimensional path tracking control system

    摘要
  • 摘要:
      目的  为满足全驱动型自主式水下机器人（AUV）水下搜救、回收及海底地貌成像等实际任务需求，研究全驱动型AUV三维路径跟踪控制应用的方法。
      方法  阐述自主研发的"探海I型"全驱动型AUV系统组成，研究并建立该AUV推进器、水平面和垂直面控制的数学模型，设计一种新颖的智能积分S面三维路径跟踪控制器，分析设计的控制系统的稳定性，并通过仿真及湖上试验进行验证。
      结果  结果表明所开发的AUV运行可靠，设计的控制器能较好地完成三维路径跟踪任务，可满足水下实际任务的需求，
      结论  其三维路径跟踪控制器对全驱动型AUV及其他领域的路径跟踪控制应用具有借鉴意义。

     

    Abstract:
      Objectives  In order to meet the requirements of underwater search and rescue, recovery and submarine geomorphology imaging of fully-actuated Autonomous Underwater Vehicle (AUV), the application method of its three-dimensional path tracking control is studied.
      Methods  The composition of the self-developed fully-actuated "T-SEA I" AUV was described. The mathematical models of the thruster, horizontal and vertical controls of the AUV were studied and established. A novel intelligent integrated S surface controller of three-dimensional path tracking was designed, and the stability of the system was analyzed. The simulation analysis and lake trial were undertaken.
      Results  The results show that the AUV developed in this paper runs reliably. The controller designed can better complete the three-dimensional path tracking task and meet the actual underwater task requirements.
      Conclusions  The AUV three-dimensional path tracking controller can be used for reference in the application of fully-actuated AUVs and the path tracking control in other fields.

     

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