自主布放无人潜航器的无人水面艇研究  

Research on USV with autonomous deployment of UUV

作　　者：崔健[1,2] 赵宝德[1,2] 赵文涛 俞建成[1,2] 刘开周[1,2] 王银欢 曹哲[1,2,3] CUI Jian;ZHAO Bao-de;ZHAO Wen-tao;YU Jian-cheng;LIU Kai-zhou;WANG Yin-huan;CAO Zhe(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国科学院大学,北京100049

出　　处：《舰船科学技术》2022年第15期80-85,共6页Ship Science and Technology

基　　金：国家重点研发计划项目资助(2016YFC0301601,2016YFC0300604,2017YFC1405401);中国科学院战略先导专项资助(XDA13030203);中国科学院科研装备研制资助项目(YZ201441);辽宁省兴辽英才计划资助项目(XLYC1902032);国家自然科学基金资助项目(61821005)。

摘　　要：针对无人潜器自主布放技术问题,研究设计一种可自主布放无人潜器的无人水面艇系统。系统设计由艇体结构、自主布放、自主航行控制、岸基监控子系统组成。为了实现自主布放系统的安装控制需求,USV在艇体结构布局、能源供给和控制策略上做了优化设计。针对远距离长时间精准运送问题,设计了增益调度串级PID自整定自主控制方法实现自主航行控制。布放机构执行布放动作包括推出机体固定座、释放首部卡件、下摆、释放压紧机构、潜水器滑出、机体固定座收回。先后进行了多次试验,USV自主运送并成功自主布放了“海翼”水下滑翔机。Aiming at the technical problem of autonomous deployment of UUV,an unmanned surface vehicle system which can autonomously deploy UUV is researched and designed.The system is composed of subsystems such as ship body structure,autonomous deployment system,autonomous navigation control,and shore-based monitoring.To meet the installation and control requirements of the autonomous deployment system,the USV has optimized the hull layout,power supply and control strategy.Aiming at the problem of long distance precise transportation,a gain scheduling cascade PID self-tuning path control method was designed to realize autonomous navigation control.The action performed by the deployment system includes pushing out the body fixing seat,releasing the bow clamp,lower swing,releasing the pressing mechanism,slipping out of the submersible and withdrawing the body fixing seat.The USV has carried out several tests.The USV has independently delivered and successfully deployed Sea Wing underwater glider.

关 键 词：无人水面艇 无人潜航器 水下滑翔机 自主布放 自主航行控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]