小型自治水下机器人控制系统研究开发  

Research and Development of a Control System for Miniature Autonomous Underwater Vehicles

作　　者：侯巍[1] 王树新[1] 温秉权[2] 何漫丽[1] 刘卫京[1] 

机构地区：[1]天津大学机械工程学院,天津300072 [2]军事交通学院装运机械系,天津300161

出　　处：《机器人》2005年第4期354-357,共4页Robot

基　　金：国家863计划资助项目(2001AA6320102004AA639660)

摘　　要：开发了一种性价比高的CAN总线分布式自治水下机器人控制系统结构,并采用了独特的故障处理方法.根据弱耦合简化模型,详细设计了航行控制器,并对航行控制系统进行了仿真研究.仿真与试验结果表明:控制系统性能可靠、传输率高,并具有很好的鲁棒性与稳定性,能够满足水下机器人工作环境复杂多变的要求.A CAN-bus-based distributed autonomous underwater vehicle (AUV) control architecture with high cost-effectiveness is developed, and a unique method for failure handling is used. According to weak coupling simplified model, the autopilot control system is designed and simulated. Simulations and experiments show that the control architecture has high reliability and communication rate, and is highly robust and stable. It is completely competent for complex and multivariate operating environment of underwater vehicle.

关 键 词：自治水下机器人 控制系统结构 CAN总线 自航行控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]