水下机器人操纵系统优化控制研究  

Research on Optimal Control of Underwater Robot Control System

作　　者：刘慧婷[1] 冯金金[1] 张明[1] 

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212003

出　　处：《计算机仿真》2016年第5期299-303,共5页Computer Simulation

基　　金：国家自然科学基金项目(11204109);江苏省科技厅产学研前瞻性联合研究项目(BY2012181)

摘　　要：水下机器人(ROV)在水中运动时会受到波浪、海流等干扰,造成系统稳定性差。因此需要一种高效的运动控制方法。常规运动控制方法存在动态响应差、自适应能力不足等缺点,难以有效抑制环境干扰,为提高系统的稳定性,提出了一种结合PID的广义预测优化算法。根据ROV动力学模型,优化广义预测控制算法,结合PID对上述算法进行平滑处理,并以水下机器人的艏向和纵向运动为例验证控制效果。仿真结果表明,控制算法响应速度快、震荡低,且具有良好的抗干扰能力,为系统稳定性优化提供了科学依据。Underwater robot（ROV） can be disturbed by waves and currents during the water movement,so a high efficiency anti-interference control method is required.The conventional control methods,which have many shortcomings such as poor dynamic response and low adaptive ability,are difficult to resist such disturbances.A new generalized predictive optimization algorithm based on PID is proposed.According to the model of ROV dynamics,the generalized predictive control is optimized by combining with PID to smooth the algorithm,and bow and longitudinal motions are taken for examples to deploy the effect of control.Simulation results show that the proposed algorithm has prompt responses,small vibration and great anti-disturbance ability.

关 键 词：水下机器人 动力学模型 广义预测控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]