共查询到20条相似文献，搜索用时 15 毫秒
1.
以国家科技重大专项研制的深水AUV系统为研究对象,借助商业软件ANSYS,从一个新的角度——AUV湿模态分析,研究了各种外界激励的频率特性。为避免AUV发生共振,应保证AUV所受到的各种外界激励的频率远低于AUV的第7阶固有频率,基于此,我们对AUV航行时的干扰源、AUV搭载的机械结构以及AUV附属结构的对于AUV本体的产生的激励频率进行了计算。计算结果显示,低于AUV本体的固有频率,不会对AUV的稳定性产生影响,实现了AUV本体振动不会影响各传感器的正常工作的设计。 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.
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
4.
Three-dimensional visualization of mission planning and control forthe NPS autonomous underwater vehicle 总被引：1，自引：0，他引：1
Zyda M.J. McGhee R.B. Kwak S. Nordman D.B. Rogers R.C. Marco D. 《Oceanic Engineering, IEEE Journal of》1990,15(3):217-221
The Naval Postgraduate School (NPS) is constructing a small autonomous underwater vehicle (AUV) with an onboard mission control computer. The mission controller software for this vehicle is a knowledge-based artificial intelligence (AI) system requiring thorough analysis and testing before the AUV is operational. The manner in which rapid prototyping of this software has been demonstrated by developing a controller code on a LISP machine and using an Ethernet link with a graphics workstation to simulate the controller's environment is discussed. The development of a testing simulator using a knowledge engineering environment (KEE) expert system shell that examines AUV controller subsystems and vehicle models before integrating them with the full AUV for its test environment missions is discussed. This AUV simulator utilizes an interactive mission planning control console and is fully autonomous once initial parameters are selected 相似文献
5.
The tracking control problem of AUV in six degrees-of-freedom (DOF) is addressed in this paper. In general, the velocities of the vehicles are very difficult to be accurately measured, which causes full state feedback scheme to be not feasible. Hence, an adaptive output feedback controller based on dynamic recurrent fuzzy neural network (DRFNN) is proposed, in which the location information is only needed for controller design. The DRFNN is used to online estimate the dynamic uncertain nonlinear mapping. Compared to the conventional neural network, DRFNN can clearly improve the tracking performance of AUV due to its less inputs and stronger memory features. The restricting condition for the estimation of the external disturbances and network's approximation errors, which is often given in the existing literatures, is broken in this paper. The stability analysis is given by Lyapunov theorem. Simulations illustrate the effectiveness of the proposed control scheme. 相似文献
6.
7.
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
8.
A discrete time-delay control (DTDC) law for a general six degrees of freedom unsymmetric autonomous underwater vehicle (AUV) is presented. Hydrodynamic parameters like added mass coefficients and drag coefficients, which are generally uncertain, are not required by the controller. This control law cancels the uncertainties in the AUV dynamics by direct estimation of the uncertainties using time-delay estimation technique. The discrete-time version of the time-delay control does not require the derivative of the system state to be measured or estimated, which is required by the continuous-time version of the controller. This particularly provides an advantage over continuous-time controller in terms of computational effort or availability of sensors for measuring state derivatives, i.e., linear and angular accelerations. Implementation issues for practical realization of the controller are discussed. Experiments on a test-bed AUV were conducted in depth, pitch, and yaw degrees of freedom. Results show that the proposed control law performs well in the presence of uncertainties. 相似文献
9.
The NDRE-AUV flight control system 总被引：1，自引：0，他引：1
The flight control system of an autonomous underwater vehicle (AUV) developed at the Norwegian Defence Research Establishment (NDRE) is presented. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems, and three autopilots are designed for steering, diving, and speed control. The design of the separate controllers is based on PID techniques. Results from extensive sea testing show robust performance and stability for the autopilot 相似文献
10.
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
11.
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
12.
Absolute positioning of an autonomous underwater vehicle using GPS and acoustic measurements 总被引：2，自引：0，他引：2
Kinematic global positioning system (GPS) positioning and underwater acoustic ranging can combine to locate an autonomous underwater vehicle (AUV) with an accuracy of /spl plusmn/30cm (2-/spl sigma/) in the global International Terrestrial Reference Frame 2000 (ITRF2000). An array of three precision transponders, separated by approximately 700 m, was established on the seafloor in 300-m-deep waters off San Diego. Each transponder's horizontal position was determined with an accuracy of /spl plusmn/8 cm (2-/spl sigma/) by measuring two-way travel times with microsecond resolution between transponders and a shipboard transducer, positioned to /spl plusmn/10 cm (2-/spl sigma/) in ITRF2000 coordinates with GPS, as the ship circled each seafloor unit. Travel times measured from AUV to ship and from AUV to transponders to ship were differenced and combined with AUV depth from a pressure gauge to estimate ITRF2000 positions of the AUV to /spl plusmn/1 m (2-/spl sigma/). Simulations show that /spl plusmn/30 cm (2-/spl sigma/) absolute positioning of the AUV can be realized by replacing the time-difference approach with directly measured two-way travel times between AUV and seafloor transponders. Submeter absolute positioning of underwater vehicles in water depths up to several thousand meters is practical. The limiting factor is knowledge of near-surface sound speed which degrades the precision to which transponders can be located in the ITRF2000 frame. 相似文献
13.
便携式AUV具有结构紧凑、机动性好、制造和使用成本低等优点,本文设计AUV的底层控制系统和自主导航系统,并进行仿真验证和人工湖试验,结果证明底层控制系统具有很好的鲁棒性,基于AHRS、数字罗盘和GPS的惯性导航算法能够通过浅水节点潜航方式实现AUV自主导航。 相似文献
14.
Smith S.M. An P.E. Holappa K. Whitney J. Burns A. Nelson K. Heatzig E. Kempfe O. Kronen D. Pantelakis T. Henderson E. Font G. Dunn R. Dunn S.E. 《Oceanic Engineering, IEEE Journal of》2001,26(4):453-465
The Advanced Marine Systems Lab at Florida Atlantic University has developed a new ultramodular plastic mini autonomous underwater vehicle (AUV), called the Morpheus, for littoral military and coastal oceanographic sampling, survey, and mapping. The name Morpheus was chosen because the Greek god Morpheus could change shape or "morph." The higher degree of modularity of the Morpheus AUV allows it to "morph" or change its size and components for different applications. This vehicle is composed of modular injection-molded plastic pressure vessels and a cabling system that allow the modules to be rearranged without rewiring bulkheads. The plastic pressure vessels are inexpensive, inherently mass-producible, extremely corrosion-resistant, and have low magnetic signatures. The pressure vessels are small but are sized to fit most standard electronic board standards. The mini AUV can be anywhere from 4 to 10 ft in length, depending on its mission. The vehicle architecture is an adaptation of the Ocean Explorer AUV system and uses an ANSI 709.1 (LonTalk) distributed control network for connecting all sensors and actuator subsystems as smart nodes. The modularity in containers, control, and power makes this vehicle rapidly reconfigurable and easy to repair or upgrade. This paper will present details of the motivation, design, and construction of the new mini AUV. The Morpheus was deployed during the summer of 2000 in field exercises for very shallow and shallow water mine counter measures. Some results from these tests will be presented 相似文献
15.
The high-speed water entry process of an autonomous underwater vehicle (AUV) has a strong impact nonlinearity, and a cavity formed by air and water will often be generated as part of the entry process. The shape of the water-entry cavity plays an important role in the load characteristics and stability of the water-entry trajectory. In this paper, a numerical model for describing the cavity and impact load characteristics of a high-speed water-entry AUV is established. The simulation results such as cavity shape and impact load are compared with experimental data. The good agreement between the numerical results and those of the experiments reveals the accuracy and capability of the numerical algorithm. Subsequently, the arbitrary Lagrange-Euler (ALE) numerical algorithm is used to simulate and analyse the variation laws of the cavity characteristics and impact loads with different head shapes, water-entry velocities, water-entry angles and angles of attack. The results obtained in this study can provide a good reference for the trajectory control and structural design of the AUV. 相似文献
16.
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
17.
The long baseline (LBL) system is widely used to locate and track autonomous underwater vehicles (AUV) through acoustic communication.Three important issues are presented here in LBL system application with AUV.Those issues which regard the normal acoustic communication between LBL system and AUV are the depth of towed array,the length of beacon cable,and the effective area of the AUV.The first issue is the key of the LBL system,which ensures the normal communication between towed array and beacons.The second issue which impacts the normal communication from the AUV to beacons in available range should be considered after the first one has been settled.Then the last issue determines the safe work area of the AUV.The ordinary differential equations (ODE) algorithm of ray is deduced from Snell′s law.The ODE algorithm is applied to obtain sound rays from sound source to receiver.These problems are solved by the judgment that whether rays pinging from a sound source arrives at a receiver.The sea trial shows that these methods have much validity and practicality. 相似文献
18.
This paper compares lead-acid batteries, sodium-sulfur batteries, solid polymer fuel cells and closed-cycle diesel engines for autonomous underwater vehicle (AUV) applications. The service is described in terms of a parametric mission and life cycle. A generic AUV is used as a basis for comparison. Power systems are evaluated by two criteria: (1) submerged endurance capability and (2) life cycle cost. This study determines categories of service for which each power system is preferred. The solid polymer fuel cell can provide greater submerged endurance than other power systems examined. For extremely long duration AUV missions, the fuel cell is the required system, indicating a possible market niche for today's fuel cell technology. Considering cost projections for each power system, the results also show that the SPFC can become cost-competitive with conventional technologies, particularly for services characterized by high levels of utilization 相似文献
19.
Multivariable sliding mode control for autonomous diving andsteering of unmanned underwater vehicles
A six-degree-of-freedom model for the maneuvering of an underwater vehicle is used and a sliding-mode autopilot is designed for the combined steering, diving, and speed control functions. In flight control applications of this kind, difficulties arise because the system to be controlled is highly nonlinear and coupled, and there is a good deal of parameter uncertainty and variation with operational conditions. The development of variable-structure control in the form of sliding modes has been shown to provide robustness that is expected to be quite remarkable for AUV autopilot design. It is shown that a multivariable sliding-mode autopilot based on state feedback, designed assuming decoupled modeling, is quite satisfactory for the combined speed, steering, and diving response of a slow AUV. The influence of speed, modeling nonlinearity, uncertainty, and disturbances, can be effectively compensated, even for complex maneuvering. Waypoint acquisition based on line-of-sight guidance is used to achieve path tracking 相似文献
20.
自主水下机器人(AUV)对接技术是目前水下机器人的研究热点,精确可靠的AUV的回坞导航是实现对接的关键技术。对于追求轻便的便携式AUV的对接系统,考虑到便携式AUV的搭载能力有限又需要足够的定位精度用于对接,提出了一种基于超短基线(USBL)定位的回坞导航方法,该方法让AUV只需装载电子罗盘和水声应答器就能完成精确的回坞定位。根据导航方法的特点,设计了一种改进的扩展卡尔曼滤波算法,其优点是能在处理滞后的USBL数据的同时动态估算海流、更新状态方程以消除海流造成的定位误差。通过湖试和大量仿真实验,验证了定位算法在海流影响下的定位性能。 相似文献