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1.
The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for synthesizing controls for underactuated AUV's and show how to use this technique to provide adaptation to changes in control authority. Our framework is a motion control system architecture which includes both feed-forward control as well as feedback control. We confine ourselves to kinematic models and exploit model nonlinearities to synthesize controls. Our results are illustrated for two examples, the first a yaw maneuver of an AUV using only roll and pitch actuation, and the second a “parking maneuver” for an AUV. Experimental results for the yaw maneuver example are described 相似文献
2.
Maneuvering modeling and simulation of AUV dynamic systems with Euler-Rodriguez quaternion method 总被引：1，自引：0，他引：1
The purpose of this study is to develop maneuvering models and systems of a simulator to improve the motion performance of autonomous underwater vehicles (AUVs) at the preliminary design stages in advance. The AUVs simulation systems based on the standard submarine equations of motion in six-degree-of-freedom (6-DOF) integrated with the Euler-Rodriguez quaternion method for representing singularity-free AUV attitude and time-saving calculation, and with a nonlinear control model for maneuvering and depth control simulations, time-marching in the fourth-order Runge-Kutta scheme. For validation of the simulation codes, results of the ISiMI AUV open-loop tests including turning test and zigzag test as well as an AUV simulator on the basis of Euler-angle method were used to compare with the quaternion-based AUV simulator. The computational results from the proposed simulator agree well with those from both the ISiMI AUV experiments and the Euler-angle based simulations. Additionally, a new maneuvering procedure, namely "put-out" was implemented to test directional stability for a large-scale AUV in the proposed AUV simulator that can be considered for vehicles in space as well as in constrained planes. 相似文献
3.
Time-domain models of marine structures based on frequency domain data are usually built upon the Cummins equation. This type of model is a vector integro-differential equation which involves convolution terms. These convolution terms are not convenient for analysis and design of motion control systems. In addition, these models are not efficient with respect to simulation time, and ease of implementation in standard simulation packages. For these reasons, different methods have been proposed in the literature as approximate alternative representations of the convolutions. Because the convolution is a linear operation, different approaches can be followed to obtain an approximately equivalent linear system in the form of either transfer function or state-space models. This process involves the use of system identification, and several options are available depending on how the identification problem is posed. This raises the question whether one method is better than the others. This paper therefore has three objectives. The first objective is to revisit some of the methods for replacing the convolutions, which have been reported in different areas of analysis of marine systems: hydrodynamics, wave energy conversion, and motion control systems. The second objective is to compare the different methods in terms of complexity and performance. For this purpose, a model for the response in the vertical plane of a modern containership is considered. The third objective is to describe the implementation of the resulting model in the standard simulation environment Matlab/Simulink. 相似文献
4.
Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances 总被引：1，自引：0，他引：1
In the case of Autonomous Underwater Vehicle(AUV) navigating with low speed near water surface,a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance.Robust control is applied,which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer.Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system.For parameter uncertainty of motion model,the controller is designed with mixed-sensitivity method based on H-infinity robust control theory.Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface. 相似文献
5.
针对自治水下机器人(Autonomous underwater vehicle,AUV)推力器布置和控制仿真的困难性及以往电机仿真难以进行的缺点,提出1种进行多推力器运动仿真的方法,该方法建立的模型克服了推力器推力控制系统不能与电机结合的问题,能较好地反映推力器布置和电机的响应情况,可为AUV的运动控制、布置设计及控制系统开发等提供验证模型.针对流线型AUV CRanger-2的推力器布置情况,在对其建立推力器模型的基础上,利用模型对设定推力下的推力器控制进行仿真.仿真结果表明:该方法能够有效地模拟推力器布置既定情况下的电机运动与推力控制,可为水下机器人控制策略优化提供仿真平台. 相似文献
6.
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
7.
Pan-Mook Lee Seok-Won Hong Yong-Kon Lim Chong-Moo Lee Bong-Hwan Jeon Jong-Won Park 《Oceanic Engineering, IEEE Journal of》1999,24(3):388-395
This paper presents a discrete-time quasi-sliding mode controller for an autonomous underwater vehicle (AUV) in the presence of parameter uncertainties and a long sampling interval. The AUV, named VORAM, is used as a model for the verification of the proposed control algorithm. Simulations of depth control and contouring control are performed for a numerical model of the AUV with full nonlinear equations of motion to verify the effectiveness of the proposed control schemes when the vehicle has a long sampling interval. By using the discrete-time quasi-sliding mode control law, experiments on depth control of the AUV are performed in a towing tank. The controller makes the system stable in the presence of system uncertainties and even external disturbances without any observer nor any predictor producing high rate estimates of vehicle states. As the sampling interval becomes large, the effectiveness of the proposed control law is more prominent when compared with the conventional sliding mode controller 相似文献
8.
从1948年法国设计FNRS-2号第一艘深潜器以来,特别是六十年代开始,由于海洋开发和军事上的需要,对深潜器(又称可潜器)给予了广泛重视。目前,深潜器已成为海洋调查、海底打捞、深海救生、海洋研究以及建造各种水下工程的重要手段。美国1970年下水的深潜救生艇(DSRV)全部采用计算机程序控制。可以在1524米水深援救失事海艇艇员,每次24人,化费研制费高达二亿多美元。三艘“南鱼座”号深潜器,在一年内把沉没在深750米海底的120条鱼雷打捞起来。深潜工作艇“阿尔文”号和“CURV”号把失落在深856米海底的一颗氢弹打捞起来。著名深潜器“阿鲁明纳”号和打捞船“密执尔”号合作打捞了沉没在深1538米的另一艘深潜器“阿尔文”号。 相似文献
9.
The stability of the motion control system is one of the decisive factors of the control quality for Autonomous Underwater Vehicle (AUV).The divergence of control,which the unstable system may be brought about,is fatal to the operation of AUV.The stability analysis of the PD and S-surface speed controllers based on the Lyapunov' s direct method is proposed in this paper.After decoupling the six degree-of-freedom (DOF) motions of the AUV,the axial dynamic behavior is discussed and the condition is deduced,in which the parameters selection within stability domain can guarantee the system asymptotically stable.The experimental results in a tank and on the sea have successfully verified the algorithm reliability,which can be served as a good reference for analyzing other AUV nonlinear control systems. 相似文献
10.
等效水深截断是混合模型试验中非常重要的一步,合理的截断方案是模型试验成功的前提。现有的研究大多忽略对平台转动的考虑,该文在静态相似准则的基础上增加对平台转动的考虑,推导了系泊系统回复力和转矩的计算公式,建立了满足静态一致性的目标函数,进而采用粒子群算法进行等效水深截断优化设计。以某深水半潜式平台为例,首先在不考虑转动的情况下对其系泊系统进行等效截断,研究发现截断水深的变化对转矩的优化结果影响较大,从而证明了平台转动是应该考虑的。其次在考虑转动的情况下对系泊系统进行等效截断,通过水动力软件验证所优化的结果,证明该方法的可行性,为后续的等效水深截断优化设计的研究提供参考。 相似文献
11.
《Oceanic Engineering, IEEE Journal of》2008,33(2):69-88
12.
This paper describes the estimation of hydrodynamic coefficients and the control algorithm based on a nonlinear mathematical modeling for a test bed autonomous underwater vehicle (AUV) named by SNUUV I (Seoul National University Underwater Vehicle I).A six degree of freedom mathematical model for SNUUV I is derived with linear and nonlinear hydrodynamic coefficients, which are estimated with the help of a potential code and also the system identification using multi-variable regression.A navigation algorithm is developed using three ranging sonars, pressure sensor and two inclinometers keeping towing tank applications in mind. Based on the mathematical model, a simulation program using a model-based control algorithm is designed for heading control and wall following control of SNUUV I.It is demonstrated numerically that the navigation system together with controller guides the vehicle to follow the desired heading and path with a sufficient accuracy. Therefore the model-based control algorithm can be designed efficiently using the system identification method based on vehicle motion experiments with the appropriate navigation system. 相似文献
13.
In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode （NTSM） is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov＇ s stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible. 相似文献
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15.
The problem of controlling an autonomous underwater vehicle (AUV) in a diving maneuver is addressed. Having a simple controller which performs satisfactorily in the presence of dynamical uncertainties calls for a design using the sliding mode approach, based on a dominant linear model and bounds on the nonlinear perturbations of the dynamics. Nonadaptive and adaptive techniques are considered, leading to the design of robust controllers that can adjust to changing dynamics and operating conditions. The problem of using the observed state in the control design is addressed, leading to a sliding mode control system based on input-output signals in terms of drive-phase command and depth measurement. Numerical simulations using a full set of nonlinear equations of motion show the effectiveness of the proposed techniques 相似文献
16.
The design of an autonomous underwater vehicle (AUV) involves complex tradeoffs among various design variables and mission requirements. Particularly important are the selection of a suitable energy source and the sensitivity of vehicle dimensional characteristics to mission requirements. A method of comparison based on an approximate but comprehensive approach which refers to specific parameters derivable from known designs or literature is suggested. Specific energy and energy density of candidate systems are derived with due consideration to depth-resistant vessels. The impact of the energy system choice is highlighted, going beyond simply comparing the former parameters. A design model has been developed, allowing quick sensitivity and mass-volume breakdown of alternative configurations under varying mission requirements; these are exemplified with reference to a design case. The procedure allows the correct specification of power, energy, and surface-handling systems for more detailed comparative analyses, given a common project goal and a basis for realistic cost comparison. The results show wide differences in the energy capacity of AUVs complying with identical mission data, but using with different energy systems. It is concluded that rechargeable electric batteries, even of high energy density, result in unacceptably heavy vehicles for ranges around 1000 km unless very low drag characteristics are achieved. Closed-cycle diesel and fuel cell systems allow the AUV mass to be kept below 10 t 相似文献
17.
2017年我国"蛟龙"号载人潜水器完成了为期5年的试验性应用,期间累计下潜100余次,形成和建立了科学完善的应用保障体系和专业的应用人才队伍。以"蛟龙"号试验性应用中运行与保障的实践经验为基础,针对其中设备与备品备件管理、运行作业管理、拆检总装管理、数据资料查询与利用等方面的重要需求,设计开发了一套"蛟龙"号载人潜水器运行与保障信息管理系统,通过信息化平台实现设备资源、作业成果以及经验积累传承之间的高效衔接与复用,最大限度地降低装备运行成本、提高作业效率、保障海上作业安全。文章提出的载人潜水器运维体系能够为我国其他行业或部门的载人潜水器、远程缆控机器人(ROV)、水下自治机器人(AUV)等重大海洋装备的运行与保障提供有益参考借鉴。 相似文献
18.
19.
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
20.
针对适合捷联式重力仪的AUV搭载平台的选型问题,基于国内AUV实际航行数据,分析了多推进器组合、推进器和浮力舱组合、推进器和鳍舵组合等3类AUV的定深航行运动特性;推导了AUV水下航行在3个坐标轴方向上对重力仪产生的运动加速度计算公式,得到运动加速度与AUV水下6个自由度运动要素的解析表达式;基于运动加速度分析,讨论了适用于水下移动重力测量的AUV平台和推进装置设计,进行了AUV搭载平台的优选,并给出了重力仪安装位置建议;选定的AUV实验平台实施移动重力测量验证试验重复线精度达到0.42mGal,验证了搭载平台优选的有效性。 相似文献