无缆自治水下机器人运动控制参数整定方法  

Tuning Method for Motion Control Parameters of Autonomous Underwater Robot

作　　者：刘静 杨雪 陈伟 陈巍[1] LIU Jing;YANG Xue;CHEN Wei;CHEN Wei(Industrial Center·Innovation and Entrepreneurship College,Nanjing Institute of Technology,Nanjing Jiangsu 211167,China;School of Electronic Engineering and Optical Technology,Nanjing University of Science and Technology,Nanjing Jiangsu 210014,China)

机构地区：[1]南京工程学院工业中心·创新创业学院,江苏南京211167 [2]南京理工大学电子工程与光学技术学院,江苏南京210014

出　　处：《计算机仿真》2023年第3期421-425,共5页Computer Simulation

基　　金：南京工程学院创新基金项目(CKJB202009)。

摘　　要：采用目前方法对无缆自治水下机器人的运动控制参数进行整定时,没有对机器人的运动特性和控制特性进行分析,导致方法的速度控制、位置控制和导航精度较低。提出无缆自治水下机器人运动控制参数整定方法,首先对机器人在水下作业的运动过程进行了分析,根据分析结果设计PID控制器,对无缆自治水下机器人的运动进行控制,对控制结果进行分析,选取需要整定的运动控制参数。采用蚁群优化算法构建运动控制参数整定目标函数,完成无缆自治水下机器人运动控制参数的整定。仿真结果表明,所提方法的速度控制、位置控制和导航精度高。At present,due to the lack of analysis of motion characteristics and control characteristics,the accuracy of speed control,position control and navigation of some methods is not ideal when tuning the motion control parameters of untethered AUV.Therefore,a method for tuning the motion control parameters of untethered AUV.First of all,the entire movement of the vehicle under water was analyzed.Based on the analysis result,a PID controller was designed to control the movement of untethered AUV.After analyzing the control result,the motion control parameters to be tuned were selected.Moreover,the ant colony optimization algorithm was used to construct motion control parameters and tune objective functions.Finally,the motion control parameter tuning was finished.Simulation results prove that the proposed method has high accuracy of speed control,position control and navigation.

关 键 词：无缆自治水下机器人 运动分析 控制器 蚁群优化算法 运动控制参数整定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]