面向海底管道巡检的AUV三维自适应路径跟踪  

AUV 3D Adaptive Path Following for Submarine Pipeline Inspection

作　　者：王浩亮[1,3,4,5] 任恩帅 卢丽宇 刘陆 古楠 彭周华 WANG Haoliang;REN Enshuai;LU Liyu;LIU Lu;GU Nan;PENG Zhouhua(Dalian Maritime University,Marine Engineering College;Dalian Maritime University,Marine Electrical Engineering College,Dalian 116026,Liaoning,China;School of Electronics,Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai,200240,China;Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships,Dalian 116026,Liaoning,China;State Key Laboratory of Maritime Technology and Safety,Dalian 116026,Liaoning,China)

机构地区：[1]大连海事大学,轮机工程学院,辽宁大连116026 [2]大连海事大学,船舶电气工程学院,辽宁大连116026 [3]上海交通大学,电子信息与电气工程学院,上海200240 [4]大连市智能船艇集群控制与电气技术重点实验室,辽宁大连116026 [5]水路交通控制全国重点实验室,辽宁大连116026

出　　处：《船舶工程》2024年第4期166-174,共9页Ship Engineering

基　　金：新一代人工智能国家科技重大专项(2022ZD0119902);国家自然科学基金项目(51939001,51979020,52071044,52271304);辽宁省自然科学基金计划(博士科研启动计划)(2023-BS-077);水路交通控制全国重点实验室开放课题(SKLMTA-DMU2024Y3);大连海事大学博联科研基金项目(3132023616);辽宁省教育厅高等学校基本科研项目(LJKZ0044);大连市科技局高层次人才创新支持计划资助项目(2020RQ013,2022RQ010)。

摘　　要：针对面向海底管道巡检任务的欠驱动自主水下航行器(AUV)三维路径跟踪控制问题进行研究。首先,在固定坐标系和机体坐标系下建立AUV的运动学模型,为设计适宜运动控制的三维路径跟踪控制器,建立流体坐标系,并在Serret-Frenet坐标系下建立AUV的路径跟踪误差模型;其次,将可变前视距离引入传统视线(LOS)制导策略,提出一种自适应LOS制导策略以提高制导精度,并基于此设计面向海底管道巡检的AUV三维路径跟踪控制器,使得AUV可有效跟踪设定的参数化路径;最后,基于李雅普诺夫稳定性理论证明了闭环系统的稳定性。仿真结果验证了所提面向海底管道巡检的三维路径跟踪控制器的有效性。研究成果能够改善AUV的操纵性,可为面向海底管道巡检的无人水下航行器路径跟踪控制方法提供参考。Research is conducted on a three-dimensional(3D)path following control problem of autonomous underwater vehicle(AUV)for subsea pipeline inspection task.Firstly,the kinematic model of the AUV is established in the fixed coordinate system and the body coordinate system.In order to design a 3D path following controller suitable for motion control,a fluid coordinate system is established,and an AUV path following error model is established in the Serret-Frenet coordinate system.Secondly,a variable forward distance is introduced into the traditional line-of-sight(LOS)guidance strategy,and an adaptive LOS guidance strategy is proposed to improve the guidance accuracy.Based on this strategy,a three-dimensional AUV path following controller for submarine pipeline inspection is designed,such that the AUV could effectively follow the predesigned parameterized path.Finally,the stability of the closed-loop system is proved based on Lyapunov stability principle.Simulation results are provided to substantiate the effectiveness of the proposed 3D path following controller for submarine pipeline inspection.The maneuverability of AUV can be improved by the research results,and a reference is provided for the path following control method of unmanned underwater vehicles for submarine pipeline inspection.

关 键 词：海底管道巡检 自主水下航行器 三维路径跟踪 视距制导策略 自适应控制 

分 类 号：U676.1[交通运输工程—船舶及航道工程]