积分滑模水下机器人导航定位控制方法仿真  

Integral Sliding Mode Underwater Vehicle Navigation Positioning Control Simulation

作　　者：杨帅[1] 邹智慧[1] YANG Shuai;ZOU Zhi-hui(College of Humanities ＆ Information,Changchun University of Technology,Changchun Jilin 130000,China)

机构地区：[1]长春工业大学人文信息学院,吉林长春130000

出　　处：《计算机仿真》2018年第11期306-309,365,共5页Computer Simulation

基　　金：吉林省教育厅"十二五"科学技术研究项目(吉教科合字[2015]第583号)

摘　　要：精准定位和稳定控制是实现水下机器人自主导航的关键。水下作业环境复杂性多变,当前导航定位方法进行水下机器人运动轨迹跟踪控制,当导航系统参数有扰动时,难以保证导航系统定位控制精度,误差较大。针对上述问题,提出基于遗传算法的积分滑模水下机器人导航定位控制方法。模拟构建所研究的水下机器人运动学模型并进行参数设定,设计水下机器人导航轨迹滑膜面控制模型。针对当前导航定位方法进行水下机器人导航轨迹跟踪控制,当导航系统参数有扰动时出现定位误差的问题,在水下机器人导航轨迹滑膜面设计一个定位误差的积分项。将遗传算法与控制模型应用于水下机器人导航系统,在控制率的作用下实现高精度定位控制。实验结果表明,所提方法相比当前导航定位控制方法能够获得更高的定位控制精度,可满足机器人水下实际作业的要求。The underwater operating environment is complex and changeable. The current navigation and positioning method is difficult to ensure the positioning control accuracy of navigation system. Therefore,this paper presents a navigation positioning method for integral sliding mode underwater robot based on genetic algorithm. Firstly,this research built kinematics model of underwater robot and set parameters. Then,our research designed the control model of sliding mode plane of navigation trajectory of underwater robot. For the current navigation positioning method,the research tracked and controlled the navigation trajectory of underwater robot. When the navigation system parameters had turbulence,the positioning error occurred. Moreover,we designed an integral term of positioning error on the sliding mode surface of underwater robot navigation trajectory. Finally,we applied genetic algorithm and control model to the underwater robot navigation system. Thus,we achieved high-precision positioning control under the control rate. Simulation results prove that the proposed method has higher positioning control accuracy than current methods.Meanwhile,this method can satisfy the requirement of underwater robot during actual operation.

关 键 词：积分滑模 水下机器人 导航 定位控制 遗传算法 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]