水下航行器下潜时的深度控制仿真研究  

Research on depth control of underwater robot and its simulation when diving

作　　者：綦志刚 李冰[1] 苏毅 潘建明 QI Zhi-gang;LI Bing;SU Yi;PAN Jian-ming(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001

出　　处：《舰船科学技术》2023年第8期90-96,共7页Ship Science and Technology

基　　金：黑龙江省自然科学基金资助项目(LH2019E035);黑龙江省教育科学规划重点课题(GJB1320064);哈尔滨工程大学教育教学项目(JG2021B06)。

摘　　要：AUV在近水面的运动具有高度非线性、强耦合性以及时变性等特点。为使AUV在近水面低速航行时能够快速稳定下潜到指定深度,首先需要分析AUV近水面受到的海浪干扰,进而得到海浪干扰下AUV近水面的六自由度运动模型,分析其受随机海浪扰动产生的垂荡和横摇运动。提出直接控制和间接控制方法并以此设计AUV的运动姿态控制器,通过对比分析不同控制方法对AUV垂荡运动和横摇运动的影响,从快速性和稳定性判断各种方法的适用范围。The motions of autonomous underwater vehicle near surface have the characteristics of high nonlinearity,strong coupling and time variability.In order to make the AUV dive quickly and stably to the specified depth when sailing near surface at low speed,it is necessary to analyze the wave influence on the Autonomous Underwater Vehicle near surface,then obtain the six degrees of freedom motion model of the AUV under the wave influence,and analyze the heave and roll motion caused by the random wave disturbance.The direct control and indirect control methods are proposed,and the motion attitude controllers of AUV sre designed.By comparing and analyzing the influence of different control methods on the heave motion and roll motion of AUV,the application scope of various methods is judged from the rapidity and stability.

关 键 词：自主水下航行器 近水面下潜 运动姿态控制 深度控制 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]