水下机器人抗波浪扰动动力定位研究  

Research on Dynamic Positioning of ROV Anti-waves

作　　者：刘慧婷[1] 张明[1] 曾庆军[1] 眭翔[2] 宋振文[3] 

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212003 [2]常州信息职业技术学院机电工程学院,江苏常州213164 [3]江苏科技大学计算机科学与工程学院,江苏镇江212003

出　　处：《计算机测量与控制》2016年第1期199-203,共5页Computer Measurement &Control

基　　金：国家自然科学基金项目(11204109);江苏省产学研前瞻性联合研究项目(BY2012181);江苏科技大学海洋装备研究院2015年科研项目A类

摘　　要：针对水下机器人近水面运动受到波浪干扰而产生的不确定性问题,结合所研制的新型海洋工程模态切换机器人MC-ROV,文章基于CFD法建立动力学模型,进行6DOF动力定位分析;根据定位误差设计力和力矩分配策略,采用非奇异终端滑膜控制(NTSM)对推力予以补偿,以减小由波浪等随机带来的影响,并采用无味卡尔曼(UKF)实时估计水下机器人的状态;仿真结果表明,该方法具有良好的动力定位效果,并且在受扰动后可以迅速调整动力分配策略,减小其带来的负面影响。In terms of the uncertainties induced by wave disturbances when an underwater vehicle is operated by the surface of water and combined with the novelty Model-Converted Remotely Operated Vehicle （MC-ROV） of ocean engineering, a dynamic model based on CFD is built to analyse 6DOF positioning. A strategy of force and moment allocations is designed according to positioning error, then compensating it with an algorithm known as Non-singular Terminal Sliding Model （NTSM） to low the impact brought by waves likewise. Meanwhile Unscented Kalman Filter （UKF） is utilized to estimate the real-time states of the vehicle. Simulation results present that this algorithm makes the underwater vehicle reach a pre-given position rapidly and effectively, and it can adjust the strategy of force and moment promptly when encounters with perturbations so that reduces the negative effects.

关 键 词：水下机器人 动力定位 扰动 非奇异终端滑动模型 无味卡尔曼 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]