水下自主航行器回坞控制和仿真的研究  

The Research on Control and Simulation of AUV Docking

作　　者：方凤玲[1] 卢正华[2] 史剑光[2] 金波[2] 杨灿军[2] 

机构地区：[1]福建信息职业技术学院机电工程系,福建福州350003 [2]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027

出　　处：《广东第二师范学院学报》2015年第3期75-82,共8页Journal of Guangdong University of Education

基　　金：国家自然科学基金创新研究群体科学基金项(51221004);国家高科技研究发展计划(863计划)(2013AA09A414);浙江省自然科学基金团队项目(R1090453)

摘　　要：水下自主航行器的回坞定位导航控制的任务是使水下自主航行器在洋流的影响下以一定的航艏向和姿态驶向接驳系统,并完成入坞这一过程.回坞过程分为3个阶段:远距离追踪式回航阶段、近距离中心线回航阶段、末端姿态调整阶段.针对不同阶段分别采用不同的引导方式:视线法、横向误差法、设计参考航向法实现回坞过程的路径规划,用Proportional Integral Derivative(PID)控制法对回坞过程进行运动控制,并且利用数学模型在Matlab/simulink中对回坞定位导航控制进行仿真.仿真结果显示了文章所采用定位导航控制的有效性.Autonomous Underwater Vehicle （AUV） docking mission involves the navigation and positioning control of the vehicle, which aims to control vehicle attitude and complete the docking process. The work takes the effect of ocean currents on the docking process into consideration. The docking process is divided into three phases; remote tracking navigation, close centerline navigation, and terminal attitude adjustment. Corresponding to different docking phases, three different guidance methods are adopted to achieve path planning, which are line-of-sight, cross-track-error, and designing-reference-heading methods. PID controller is used for the hack-to-dock motion control. The dynamic model of AUV is set up mathematically and the docking process is simulated with Matlab/Simulink. The results validate the performance of the navigation and positioning control method discussed in this paper.

关 键 词：水下自主航行器 回坞 PID 视线法 横向误差法 设计参考航向法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]