水下机器人近水面横摇运动的解耦控制  

Decoupling Control for Rolling Motion of Underwater Robot near Surface

作　　者：金鸿章[1] 潘立鑫[1] 王琳琳[2] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]内蒙古工业大学信息学院,呼和浩特010051

出　　处：《船舶工程》2010年第2期32-35,共4页Ship Engineering

基　　金：国家自然科学基金项目(50575048;50879012)

摘　　要：水下机器人在近水面低速航行时,为了有效克服海浪干扰的作用,提高水下机器人横摇控制的性能,依据解耦控制理论和零航速减摇鳍的工作原理,在水下机器人水平面运动耦合模型的基础上运用解耦控制方法进行横摇控制.该方法将水平面运动耦合模型分解为横荡、横摇和艏摇三个子系统进行分析,根据期望性能指标配置横摇子系统模型的极点,并将均方差最小线性递推滤波算法引入到状态信号的反馈通路中.通过对各种海情下水下机器人的横摇运动姿态进行仿真,结果表明:该解耦控制方法可应用于水下机器人近水面横摇运动的控制,其控制结果良好.Considering the case of underwater robot navigating with low speed near surface, a new method for design of rolling motion controller is proposed in order to restrain wave disturbance effectively and improve rolling control performance. Decoupling control is applied, which is based on coupling horizontal motion model of underwater robot and the principle of zero speed fin stabilizer. The total horizontal motion model is decoupled into three subsystems, namely, sway, roll and yaw. Poles of rolling subsystem are placed by using expectation value of performance index. Standard error least linearity filtering algorithm is imported into the feedback of state signals. Simulation experiments on rolling motion are conducted under different sea conditions, and the results show better performance improved by decoupling control for rolling motion of underwater robot navigating near surface.

关 键 词：水下机器人 近水面 横摇 解耦 减摇鳍 滤波 

分 类 号：U664.7[交通运输工程—船舶及航道工程] TP242[交通运输工程—船舶与海洋工程]