基于黑潮流场背景的水下滑翔机运动控制仿真  

Motion Control Simulation of Underwater Gliders in Kuroshio

作　　者：马玉印 王岩峰 官晟 王娜[1,5] 丁军航 MA Yuyin;WANG Yanfeng;GUAN Sheng;WANG Na;DING Junhang(School of Automation,Qingdao University,Qingdao 266071,China;First Institute of Oceanography,Ministry of NaturalResources,Qingdao 266061,China;Key Laboratory of Marine Science and Numerical Modeling,Ministry of Natural Resources,Qingdao 266061,China;Shandong Key Laboratory of Marine Science and Numerical Modeling,Qingdao 266061,China;Shandong Key Laboratory of Industrial Control Technology,Qingdao 266071,China;School of Rehabilitation Science andEngineering,University of Health and Rehabilitation Sciences,Qingdao 266113,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071 [2]自然资源部第一海洋研究所,山东青岛266061 [3]自然资源部海洋环境科学与数值模拟重点实验室,山东青岛266061 [4]山东省海洋环境科学与数值模拟重点实验室,山东青岛266061 [5]山东省工业控制技术重点实验室,山东青岛266071 [6]康复大学康复科学与工程学院,山东青岛266113

出　　处：《水下无人系统学报》2024年第1期1-7,共7页Journal of Unmanned Undersea Systems

基　　金：国家重点研发计划资助项目(2021YFC3101105);崂山实验室科技创新项目(LSKJ202201904)。

摘　　要：近年来,水下滑翔机已广泛应用于各种海洋观测领域,但在对黑潮等强流进行观测时,其运动轨迹往往会受到严重影响,因此文中针对黑潮流域内水下滑翔机运动轨迹控制问题进行研究。首先,以“海燕II”为研究对象,根据动量和动量矩定理建立了其考虑黑潮的动力学模型;然后将HYCOM黑潮区域数据作为干扰,其特点是黑潮流速的大小与方向都会随着位置的变化而改变,并利用Simulink对强流影响下的“海燕II”运动轨迹进行了仿真;最后,将径向基函数(RBF)神经网络与常规比例-积分-微分(PID)控制器相结合,对“海燕II”的偏航与纵倾运动进行控制。仿真结果表明RBF-PID控制器可以在一定程度上提高“海燕II”在黑潮区域运动的跟踪精度,增强抵抗黑潮干扰的能力,可为在强流影响下的水下滑翔机轨迹控制提供参考。In recent years,underwater gliders have been widely used in the observation of various ocean surveys.However,their motion is often seriously affected when observing strong currents such as the Kuroshio.Therefore,the motion control ofunderwater gliders in the Kuroshio was studied in this paper.First,with Petrel-II as the research object,a dynamics modelconsidering the Kuroshio was established based on the momentum and momentum moment theorem.Then,the Kuroshio datadownloaded from the HYCOM website was used as interference,which featured varying speeds and directions of Kuroshio atdifferent positions,and Simulink was used to simulate the motion of the Petrel-II under the influence of strong currents.Finally,the radial basis function(RBF)neural network was combined with the conventional proportional-integral-derivative(PID)controller to control the yaw motion and trim motion of the Petrel-II.The simulation results show that theRBF-PID controller can improve the motion tracking accuracy of Petrel-II in the Kuroshio area and enhance its ability to resistthe interference of the Kuroshio.This study can provide a reference for the motion control of underwater gliders under theinfluence of strong currents to some extent.

关 键 词：水下滑翔机 黑潮 运动控制 径向基函数 比例-积分-微分控制 

分 类 号：TJ630[兵器科学与技术—武器系统与运用工程] U694[交通运输工程—港口、海岸及近海工程]