大尺度高速水下无人艇控制系统设计与试验验证

Control system design and experiment for large-scale high-speed unmanned underwater vehicle

    摘要
  • 摘要:
      目的  为了在三维空间宽航速段内实现大尺度高速水下无人艇（UUV）的路径跟踪，在考虑无人艇的试验动作要求、控制精度要求及水动力特性的情况下，设计了基于模糊控制理论的自适应制导方法。
      方法  基于解耦控制方法，首先将水下无人艇的航行控制分解为航速、航向、纵倾和深度控制问题；然后分别设计积分分离比例—积分—微分控制器（PID控制器），并引入指令及状态滤波器，以改善该水下无人艇动态响应特性；最后，通过湖试验证水下无人艇在不同航速下的控制性能。
      结果  结果表明，在6，9，13 kn等试验航速下，水下无人艇跟随目标路径和深度的误差均在合理范围内，验证了该控制体系及控制方法的有效性。
      结论  所得结果对新一代试验艇的运动控制技术研究具有一定参考价值。

     

    Abstract:
      Objectives  In order to guide a large-scale high-speed unmanned underwater vehicle (UUV) along the desired path smoothly in 3D space while taking the task requirements of its control performance and hydrodynamics into consideration, a fuzzy line-of-sight (LOS) guidance law with robustness is proposed.
      Methods  Based on decoupling control, an integrated separate PID algorithm is designed for velocity, heading, depth and pitch. The dynamic characteristics are then modified by introducing filters for commands and state feedback. Finally, the control performance under varying velocities is tested by conducting lake trials.
      Results   The experimental results show that, under the velocities of 6, 9, 13 kn, the vehicle can follow the desired path and depth within a reasonable margin of error, which demonstrates that the proposed control system is valid.
      Conclusions  Besides, the achievements lay a theoretical foundation for the motion control algorithm design of next-generation unmanned underwater test vehicles.

     

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