共查询到20条相似文献，搜索用时 625 毫秒
1.
A new motion coordination algorithm for an autonomous underwater vehicle-manipulator system (UVMS) is proposed. This algorithm generates the desired trajectories for both the vehicle and the manipulator in such a way that the total hydrodynamic drag on the system is minimized. Resolution of kinematic redundancy of the system is performed at the acceleration level so that this algorithm can be incorporated into the system dynamics. The dynamics of the UVMS are modeled using a quasi-Lagrange approach. A state-space formulation of the system along with a model-based controller design for trajectory-following tasks that includes thruster dynamics is also presented. The computer simulation results demonstrate the effectiveness of this proposed method in reducing the drag on the system 相似文献
2.
An adaptive output feedback controller based on neural network feedback-feedforward compensator (NNFFC) which drives a surface ship at high speed to track a desired trajectory is designed. The tracking problem of the surface ship at low speed has been widely investigated. However, the coupling interactions among the forces from each degree of freedom (DOF) have not been considered in general. Furthermore, the influence of the hydrodynamic damping is also simplified into a linear form or neglected. On the contrary, coupling interactions and the nonlinear characteristics of the hydrodynamic damping can never be neglected in high speed maneuvering situation. For these reasons, the influence of the nonlinear hydrodynamic damping on the tracking precision is considered in this paper. Since the hydrodynamic coefficients of the surface ship at high speed are very difficult to be accurately estimated as a prior, it will be compensated by NNFFC as an unknown part of the tracking dynamics system. The stability analysis will be given by the Lyapunov theory. It indicates that the proposed control scheme can guarantee that all the signals in the closed-loop system are uniformly ultimately bounded (UUB), and numerical simulations can illustrate the excellent tracking performance of the surface ship at high speed under the proposed control scheme. 相似文献
3.
水下机器人-机械臂系统的滑模自抗扰控制 总被引：1，自引：0，他引：1
针对水下机器人机械臂系统的强耦合、强非线性、复杂海洋多源干扰等因素影响，提出了滑模自抗扰控制器，将复杂系统模型转变为简单的积分串联系统，将内部参数不确定性、测量误差、建模误差和海洋多源干扰等扰动归结为总扰动，并采用线性扩张观测器对其进行估计并抵消。利用滑模控制器提高系统对参数摄动的不敏感性，增强控制系统的抗干扰性能，通过李雅普诺夫理论分析了控制系统的有界稳定性。仿真结果表明滑模自抗扰与传统滑模控制和自抗扰控制相比，能使水下机器人机械臂实现更好的轨迹跟踪，且系统具有更好的抗干扰能力。 相似文献
4.
Robust optimal output tracking control of a midwater trawl system based on T-S fuzzy nonlinear model
A robust optimal output tracking control method for a midwater trawl system is investigated based on T-S fuzzy nonlinear model.A simplified nonlinear mathematical model is first employed to represent a midwater trawl system,and then a T-S fuzzy model is adopted to approximate the nonlinear system.Since the strong nonlinearities and the external disturbance of the trawling system,a mixed H 2 /H ∞ fuzzy output tracking control strategy via T-S fuzzy system is proposed to regulate the trawl depth to follow a desired trajectory.The trawl depth can be regulated by adjusting the winch velocity automatically and the tracking error can be minimized according to the robust optimal criterion.In order to validate the proposed control method,a computer simulation is conducted.The simulation results indicate that the proposed fuzzy robust optimal controller make the trawl net rapidly follow the desired trajectory under the model uncertainties and the external disturbance caused by wave and current. 相似文献
5.
Antonelli G. Caccavale F. Chiaverini S. Villani L. 《Oceanic Engineering, IEEE Journal of》2000,25(3):399-413
In this paper, the problem of tracking a desired motion trajectory for an underwater vehicle-manipulator system without using direct velocity feedback is addressed. For this purpose, an observer is adopted to provide estimation of the system's velocity needed by a tracking control law. The combined controller-observer scheme is designed so as to achieve exponential convergence to zero of both motion tracking and estimation errors. In order to avoid representation singularities of the orientation, unit quaternions are used to express the vehicle attitude. Implementation issues are also considered and simplified control laws are suggested, aimed at suitably trading off tracking performance against reduced computational load. Simulation case studies are carried out to show the effectiveness of the proposed controller-observer algorithm. The obtained performance is compared to that achieved with a control scheme in which the velocity is reconstructed via numerical differentiation of position measurements. The results confirm that the chattering on the control commands is significantly reduced when the controller-observer strategy is adopted in lieu of raw numerical differentiation; this leads to lower energy consumption at the actuators and increases their lifetime 相似文献
6.
State-dependent Riccati equation-based robust dive plane control of AUV with control constraints 总被引：1，自引：0，他引：1
The paper treats the question of suboptimal dive plane control of autonomous underwater vehicles (AUVs) using the state-dependent Riccati equation (SDRE) technique. The SDRE method provides an effective mean of designing nonlinear control systems for minimum as well as nonminimum phase AUV models. It is assumed that the hydrodynamic parameters of the nonlinear vehicle model are imprecisely known, and in order to obtain a practical design, a hard constraint on control fin deflection is imposed. The problem of depth control is treated as a robust nonlinear output (depth) regulation problem with constant disturbance and reference exogenous signals. As such an internal model of first-order fed by the tracking error is constructed. A quadratic performance index is chosen for optimization and the algebraic Riccati equation is solved to obtain a suboptimal control law for the model with unconstrained input. For the design of model with fin angle constraints, a slack variable is introduced to transform the constrained control input problem into an unconstrained problem, and a suboptimal control law is designed for the augmented system using a modified performance index. Using the center manifold theorem, it is shown that in the closed-loop system, the system trajectories are regulated to a manifold (called output zeroing manifold) on which the depth tracking error is zero and the equilibrium state is asymptotically stable. Simulation results are presented which show that effective depth control is accomplished in spite of the uncertainties in the system parameters and control fin deflection constraints. 相似文献
7.
Efficient control of ships in a designed trajectory is always a significant charge for ship maneuverings. The purpose of this paper is to design a robust H∞ controller and a reliability analysis for a container ship in a way-point tracking. First, the H∞ controller is designed for a container ship because of model parameters’ uncertainties and external disturbances such as waves, winds and ocean currents. Then, to evaluate the reliability of the designed controller, a well-known reliability analysis technique is employed to achieve the predefined heading angle overshoot (that is less than 20%) in way-point tracking. To do this, three random variables including wind speed, wind direction and wave direction are considered as the inputs due to their significant effect on overshoot, compared to other variables. The results demonstrate the capability of the designed H∞ controller against modeling uncertainties and external disturbances in way point tracking control. 相似文献
8.
A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane. A transformation is introduced to represent the tracking error system into a cascade form. The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach. For the stabilization of the subsystem involving the yaw moment, a control law is proposed based on the feedback linearization method. Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions. In order to demonstrate the practicability of the proposed controller, control constraints, parameter uncertainties, and external disturbances are considered according to practical situation of AUVs. Simulation results show very good tracking performance and robustness of the proposed control schemes. 相似文献
9.
An effective path planning or route planning algorithm is essential for guiding unmanned surface vehicles (USVs) between way points or along a trajectory. The A* algorithm is one of the most efficient algorithms for calculating a safe route with the shortest distance cost. However, the route generated by the conventional A* algorithm is constrained by the resolution of the map and it may not be compatible with the non-holonomic constraint of the USV. In this paper an improved A* algorithm has been proposed and applied to the Springer USV. A new path smoothing process with three path smoothers has been developed to improve the performance of the generated route, reducing unnecessary ‘jags’, having no redundant waypoints and offering a more continuous route. Both simulation and experimental results show that the smoothed A* algorithm outperforms the conventional algorithm in both sparse and cluttered environments that have been uniformly rasterised. It has been demonstrated that the proposed improved A* route planning algorithm can be applied to the Springer USV providing promising results when tracking trajectories. 相似文献
10.
Energy-optimal trajectories for underwater vehicles be computed using a numerical solution of the optimal control problem. A performance index consisting of a weighted combination of energy and time consumption is proposed. Collision avoidance is solved by including path constraints. Control vector parameterization with direct single shooting is used in this study. The vehicle is modeled with six-dimensional nonlinear and coupled equations of motion. Optimal trajectories are computed for a vehicle controlled in all six degrees of freedom by dc-motor-driven thrusters. Good numerical results are achieved 相似文献
11.
高频地波雷达海上目标航迹跟踪新思路 总被引：1，自引：1，他引：0
高频地波雷达是对海上运动目标进行监视监测的一种重要手段,为了提高地波雷达对海上特定目标独立跟踪探测时的性能,本文对高频地波雷达海上目标跟踪技术的研究现状进行了综述,分析总结了目前航迹跟踪方法存在的主要问题。结合海上目标跟踪的实际应用需求,借助目前流行的深度学习方法充分挖掘其他同步探测手段获取的目标信息,提出了基于知识辅助的特定目标跟踪方法,改善后续地波雷达对特定目标独立跟踪时的航迹质量,初步的航迹跟踪结果验证了提出方法的有效性。提出的地波雷达特定目标跟踪方法对目标跟踪方法的理论研究及地波雷达目标跟踪系统的业务化应用均具有重要意义及参考价值。 相似文献
12.
基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制 总被引：2，自引：0，他引：2
基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。 相似文献
13.
This paper is concerned with the robust control synthesis of autonomous underwater vehicle(AUV) for general path following maneuvers.First,we present maneuvering kinematics and vehicle dynamics in a unified framework.Based on H∞ loop-shaping procedure,the 2-DOF autopilot controller has been presented to enhance stability and path tracking.By use of model reduction,the high-order control system is reduced to one with reasonable order,and further the scaled low-order controller has been analyzed in both the frequency and the time domains.Finally,it is shown that the autopilot control system provides robust performance and stability against prescribed levels of uncertainty. 相似文献
14.
Franoise Ozanne Andrew J. Chadwick David A. Huntley David J. Simmonds John Lawrence 《Coastal Engineering》2000,41(4)
In this paper, the performance of a 1-D Boussinesq model is evaluated against laboratory data for its ability to predict surf zone velocity moments. Wave evolution over a plane beach and a complex bathymetry both extending into the surf-zone is examined for six cases. For the plane beach, these comprise two cases, a spilling and a plunging cnoidal wave. For the complex bathymetry, these comprise four cases of longer and short wavelengths (spilling and plunging breakers), with regular and irregular periodicity. The model evaluation places emphasis on parameters of the wave field that could be used for the prediction of sediment transport; orbital velocity, undertow, velocity skewness, kurtosis and asymmetry. It is found that, despite an overestimation of the depth-averaged horizontal velocity in the regular waves cases, the predicted higher order velocity moments and undertow are in good agreement with the laboratory data. A bispectral analysis demonstrates that the nonlinear transfers of energy amongst the low order harmonics are well reproduced, but energy exchanges with the higher harmonics are less well predicted. As a result, the model handles velocity moments better in the shorter wave tests than in the long wave cases where triad interactions are stronger. Of the four parameters describing wave breaking, the model behaviour is most sensitive to the critical wave front slope φB, especially with regard to velocity skewness and kurtosis predictions. It is also found that increasing the thickness of the surface roller for the case of plunging breakers improves the model's performance. 相似文献
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16.
A singular value decomposition (SVD) analysis is carried out to reveal the relationship between the interannual variation of track and intensity of the western North Pacific tropical cyclones (WNPTCs) in the tropical cyclone (TC) active season (July-November) and the global net air-sea heat flux (Q net ) in the preceding season (April-June). For this purpose, a tropical cyclone track and intensity function (TIF) is defined by a combination of accumulated cyclone energy (ACE) index and a cyclone track densit... 相似文献
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18.
The scope of this paper is to develop the nonlinear meta-models for seakeeping behaviour, considering the fishing vessels. These models are intended to be inserted either in a multiattribute design selection process or in a comprehensive multiobjective optimization procedure. For this purpose, seakeeping data of fishing vessels in regular head waves are used to develop meta-models of transfer functions of heave, pitch and vertical acceleration by nonlinear analysis. A home-made software considers two databases; the first is composed by the ship dimensions and coefficients of fishing vessels, and the second is their ship motion data obtained by employing a strip-theory calculation. The meta-models are proposed to predict the vertical motion characteristics for given ranges of speed and wave length during the concept design stage. The independent variables are hull size (Δ), main dimensions (L, B, T), and some hydrostatic parameters (CWP, CVP, LCB, LCF, etc.). The results estimated by the software show good correspondences with the ones achieved by direct computations. The study provides additional insight on the influence of hull form parameters on seakeeping performance of small vessels having form properties and parametric range corresponding to the investigated vessels. 相似文献
19.
《Coastal Engineering》2004,51(3):261-276
Two effectiveness indices are proposed in this paper for evaluating dune recovery techniques: nourishment effectiveness (Ne) and sand fence effectiveness (Fe). Both indices were designed to be applied during monitoring programmes and were tested for Cacela Peninsula, Portugal. On this peninsula, a total volume of 480,000 m3 of sediments were dredged from the inner backbarrier channel and used for replenishment during the winter of 1996/1997. A 32% loss of material to the sea occurred due to superficial drainage during the spreading process. During the subsequent 25 months, 33% of the deposited material was eroded (50% due to wave action, 45% related to inlet displacement and 5% to lagoon processes).The determined nourishment life-time, based on monitoring data, was about 11 to 15 years, as compared to the designed life-time of 15 to 20 years. These values could be used as a guide for other re-nourishment projects. The value for the nourishment effectiveness index (Ne) obtained was about 75% to 76%, which corresponds to a reasonably effective protective scheme for this coastal dune.A set of fences was also installed and were effective sand traps in areas where the seaward nourishment bluff was small or absent. The sand fence effectiveness index (Fe) gave values increasing eastwards from 6% to 77%, corresponding to the longshore accumulation gradient related to the bluff height. This demonstrates that sand trap efficiency is very small when they are erected on top of obstacles (natural or artificial) to aeolian transport.For adequate dune recovery, in which the morphological, sedimentary and ecological characteristics are maintained, a combination of dune and upper beach nourishment and sand fencing is recommended. The effectiveness indices proposed here have the potential to be useful management tools but their use must be validated with the analysis of other monitored dune recovery cases. 相似文献
20.
The propeller of an Autonomous Underwater Vehicle (AUV) operates at low Reynolds number in laminar to turbulent transition region. The performance of these propellers can be calculated accurately using RANSE solver with γ − Reθ transition model. In this study, the global and local hydrodynamic characteristics of open and ducted propeller are investigated using the γ − Reθ transition model. The capability of the γ − Reθ transition model to capture laminar to turbulent transition on the surface of the open propeller is demonstrated by comparison with published experimental results. The application of transition model for the propeller Ka-4-70 inside the duct 19A shows that the centrifugal forces are dominant at low Reynolds number and the flow is mainly directed in the radial direction. The transition model is able to predict complex flow physics such as leading-edge separation, tip leakage vortex, and the separation bubble on outer surface of the duct. The accurate prediction of these flow phenomenon can lead to correct calculation of global hydrodynamic forces and moments acting on the propeller at low Reynolds number. 相似文献