水下机器人动态对接中的碰撞与稳定控制  

Collision and stability control in dynamic docking of autonomous underwater vehicle

作　　者：潘薇 张永林[1] 刘妮 PAN Wei;ZHANG Yong-lin;LIU Ni(School of Electronics and Infonnation,Jiangsu University of Science and Technology,Zhenjiang 212003,China)

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212003

出　　处：《舰船科学技术》2023年第2期86-90,共5页Ship Science and Technology

摘　　要：为更好地支持多类型水下机器人(AUV)的功能协同工作,进一步提高AUV的综合作业能力,本文针对喇叭口引导式回收坞站动态入坞过程中的碰撞问题,开展水下机器人动态对接技术研究。首先进行AUV的水下受力状况和碰撞相关参数的分析,在此基础上建立AUV入坞碰撞的物理模型,结合Adams/Matlab联合仿真技术,得到碰撞过程中的最大碰撞力,提高了仿真模型的实用性。同时,为解决动态入坞碰撞过程中AUV与移动坞站姿态变化较大的问题,本文设计一套AUV动态入坞的过程控制系统。仿真实验结果可知,该控制系统能够对AUV进行实时姿态调整,实现AUV在复杂场景下的动态回收任务,减少回收对接工作所需要的时间,更好地支持AUV的水下协同工作。In order to support the functional collaborative work of multiple types of underwater robots(AUV)better and further improve the comprehensive operational capabilities of AUV,this paper has carried out the research on the dynamic docking technology of underwater robots according to the collision problem of the cone-type autonomous underwater vehicles docking system.The physical model of AUV docking collision is established by using the dynamic simulation software based on the analysis of underwater stress condition and collision parameters of AUV.Combined with ADAMS/Matlab joint simulation technology,get the maximum collision force during the collision.This paper designs a set of AUV dynamic docking process control system by using PID as the control method to adjust the AUV’s real-time attitude to solve the problem of large changes in the attitude of the AUV and the mobile docking station during the dynamic docking collision process.The simulation results show that the dynamic recovery task of AUV in complex scenes is realized by this control system.The time required for recovery and docking work is reduced,and the underwater collaborative work of AUV is better supported.

关 键 词：AUV水下对接 动态入坞碰撞 联合仿真 姿态控制 

分 类 号：TP243.2[自动化与计算机技术—检测技术与自动化装置]