带缆遥控水下机器人在海流环境下的水动力性能与运动控制研究  

Hydrodynamic performance and motion control of underwater robot in incoming flow

作　　者：窦义哲 吴家鸣[2] 董志强 杨显原 韩翔希 DOU Yi−zhe;WU Jia−ming;DONG Zhi−qiang;YANG Xian−yuan;HAN Xiang−xi(R&D Center,Sealien Robotics Ltd.,Guangzhou 511466,China;College of Civil and Transportation Engineering,South China University of Technology,Guangzhou 510640,China;School of Mechanical and Marine Engineering,Beibu Gulf University,Qinzhou 535011,China)

机构地区：[1]深海智人(广州)技术有限公司研发中心,广州511466 [2]华南理工大学土木与交通学院,广州510641 [3]北部湾大学机械与船舶海洋工程学院,广西钦州535011

出　　处：《船舶力学》2025年第4期535-546,共12页Journal of Ship Mechanics

基　　金：国家自然科学基金资助项目(51979110);国家重点研发计划资助项目(2018YFC1406602);南沙区重点领域科技计划资助项目(2024ZD011)。

摘　　要：采用重叠网格与滑移网格相结合的方法,研究在有来流情况下水下机器人的水动力性能和运动控制,通过运用PID控制方法对脐带缆和导管螺旋桨进行联合操纵,能够实现来流情况下的垂向升沉运动以及来流变化情况下水下机器人的深度保持,通过PID方法对尾部螺旋桨进行控制能够较好地调整水下机器人的纵倾角,实现定深情况下机器人姿态接近平衡,也能在升沉运动的复杂工况下使水下机器人全程保持给定的纵倾角度。The method of combining overlapping grid and sliding grid was applied to study the hydrodynamic performance and motion control of an underwater robot under incoming flow.The PID(Proportional,Integral,Differential)control method was used to realize the vertical heave motion under the presence of incoming flow through the joint operation of the umbilical cable and the ducted propeller,and the depth of the underwater robot was maintained under the condition of incoming flow change.The trim angle of the underwater robot could be adjusted by the propeller though PID method,maintaining the attitude close to balance at a fixed depth.Also the underwater robot can keep its trim angle constant throughout the entire movement process under the complicated heave working conditions.

关 键 词：水下机器人 导管螺旋桨 水动力 PID控制 姿态控制 

分 类 号：TV131.2[水利工程—水力学及河流动力学]