基于航行阻力优化的近水面机器人减纵摇控制  

LQR pitch control strategy of AUVs based on the optimum of sailing resistance

作　　者：姚绪梁[1] 孟令卫[1] 牛小丽 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《中国舰船研究》2017年第3期111-119,共9页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(51279039)

摘　　要：[目的]水下机器人(AUV)在近水面航行时,不可避免地会受到海浪的干扰,海浪干扰导致的纵摇和升沉运动不仅会影响AUV的航行姿态,同时也会导致其航行阻力增加,加剧能源的消耗。为实现AUV航行姿态和航行阻力的加权最优,[方法]建立AUV的六自由度模型并进行纵平面运动的线性化。对AUV的纵摇增阻情况进行研究,利用势流理论的方法,推导AUV的纵摇增阻模型。以纵摇增阻为性能指标,确定控制器中的Q矩阵和R矩阵,并设计减小AUV纵摇的线性二次型控制系统(LQR)控制器。[结果]仿真结果表明,加入LQR控制器后,减垂荡和减纵摇效果分别达到46.64%和77.62%,纵摇增阻减小到原来的1/6。[结论]研究结果显示,基于能量优化的LQR控制可实现纵摇增阻和航行姿态的加权最优,节约能量消耗,增加AUV的续航力。When an Autonomous Underwater Vehicle （AUV） sails near the surface of the sea, it will inevitably be subjected to wave disturbance. The heave and pitch motion caused by wave disturbance not only affects the navigation attitude of the AUV, but also leads to an increase in sailing resistance. As such, its energy consumption is increased. In this paper, the six degrees of freedom model of AUVs is established and linearized in order to achieve the weighted optimization of the sailing attitude and the resistance of the AUVs. The drag force model of the AUV is derived using the theory of potential flow. The Q matrix and R matrix are determined in the controller based on research into the drag force model. The Linear Quadratic Regulator（LQR） controller of the AUV is designed using the drag force model as the performance index. The simulation results show that after adding the LQR controller, the effects of reducing heave motion and pitch motion are 46.64% and 77.62% respectively, and the increased resistance caused by the pitch motion is reduced to 1/6 of its original value. The results show that the multiple optimum of attitude and sailing resistance is realized, the energy consumption is decreased and the endurance of the AUV is increased.

关 键 词：航行阻力优化 LQR控制 纵摇减摇 势流理论 

分 类 号：U664.82[交通运输工程—船舶及航道工程]