基于NSGA-Ⅱ算法的水下机器人水平面运动参数辨识  

Hydrodynamic Coefficients Identification for the Horizontal Plane Motion of the Underwater Vehicle Using NSGA-II Algorithm

作　　者：李庆梅[1] 刘平[1] 潘芳煜[1] 梁彩平[1] 周平[1] 

机构地区：[1]上海第二工业大学智能控制与工程学院,上海201209

出　　处：《上海第二工业大学学报》2016年第2期141-145,共5页Journal of Shanghai Polytechnic University

基　　金：上海高校青年教师培养资助计划(No.A30DB1524011-22);上海市教委创新项目(No.13YZ131)资助

摘　　要：水下机器人水动力系数的获得是分析其运动及设计控制器的基础。由于水下机器人水平面具有运动强耦合、非线性的特点,采用简单遗传算法来辨识水动力系数时无法使得多个目标函数同时达到最优,所以采用带精英策略非支配排序遗传算法(NSGA-II)来对水平面运动模型进行辨识。利用辨识得到的系数反求水下机器人水平面速度,仿真速度与实测速度曲线吻合较好,表明NSGA-II辨识得到的水动力系数是有效的。Hydrodynamic coefficients are the basis of motion analysis and controller design for the underwater vehicle. The horizontalmotion of the underwater vehicle is highly coupled and nonlinear, so it is difficult to achieve the optimal results for all the objectivefunctions at the same time when using simple genetic algorithm to identify its coefficients. As an alternative, the elitist non-dominatedsorting genetic algorithm （NSGA-II） is chosen to identify the hydrodynamic coefficients of the motion in the horizontal plane. Thecoefficients identified by NSGA-II are then used to calculate the velocities of the underwater vehicle and they are approach to thevelocities measured by sensors on the underwater vehicle. It is proved that the method used is effective.

关 键 词：水下机器人 水动力系数 遗传算法 NSGA-II算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]