自主式水下机器人运动稳定性控制方法  

Control method of the stability of AUV

作　　者：魏延辉[1] 彭富国[2] 盛超[1] 周卫祥[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]空军驻江西地区军事代表室,江西南昌330024

出　　处：《华中科技大学学报（自然科学版）》2014年第2期127-132,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：高等学校博士学科点专项科研基金资助项目(20112304120007);黑龙江省教育厅资助项目(12513047);哈尔滨市科技创新人才研究专项资金资助项目(RC2012QN009037);中央高校基本科研业务费专项资金资助项目(HEUCF041405)

摘　　要：针对自主式水下机器人稳定性控制问题进行了研究.首先对水下机器人的总体结构及其在水中的运动特性进行了分析,建立水下机器人系统的动力学模型;然后建立了直线、方向和位置的运动稳定性分析方法,确定了纵向稳定性和侧向稳定性准则,提出了基于特征值的稳定性要求;最后设计了无源自适应控制器,针对水下机器人在水中悬停和运动时易受海流影响的问题,建立了自适应补偿方法,进而确定了输入的不确定性补偿方法.对自主式水下机器人进行多方向的运动稳定性控制试验,通过试验修正稳定性控制参数,验证了设计的水下机器人运动稳定控制器的有效性和可靠性.The problem focusing on stability control of autonomous underwater vehicle （AUV） was studies .First of all ,the overall structure of the underwater vehicle and the motion characteristics in water were analyzed and the dynamics model of the AUV system was established .Secondly ,put for-ward the analytical methods for the line ,direction and position stability ,in which the longitudinal and lateral stability criterions of stability were formulated ,and the requirements for stability were raised based on characteristic value .The passive adaptive controller was designed .In connection with the problem that the underwater vehicle is easily affected by the ocean current when hovering or moving in the water ,the adaptive compensation method was established and then the method for compensating the uncertainties was determined .Finally ,the experiments of multi-directional motion stability was carried out .By adjusting the relative controller parameters ,the validation and reliability of the de-signed stability controller of the underwater vehicle was verified .

关 键 词：水下机器人 动力学建模 自主式 稳定性控制 无源自适应 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]