共查询到19条相似文献，搜索用时 140 毫秒
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AUV水下对接装置控制系统设计 总被引：1，自引：1，他引：0
自主式水下机器人(Autonomous Underwater Vehicle,简称AUV)在航行使命结束后需要回收至甲板或陆地进行补给和维护。为避免重复布放回收所带来的不便,根据锥形导向式回收原理,针对水下对接装置及其控制系统进行了设计。水下对接装置控制系统由水面控制终端,水下控制系统和水下外部设备等部分组成,使用超短基线引导AUV进入指定区域,在对接过程中依靠行程开关和无线电反馈的信息判断AUV的相对位置及状态,并通过驱动相应的液压机构对AUV姿态进行校正和固定,进而完成对接过程。水下对接装置在千岛湖进行了试验,在吊装水下7 m的情况下实现了AUV的水下对接,并利用湿插拔电连接器完成了对AUV的有线充电和数据上传。试验验证了对接方案的可行性以及控制系统的稳定性,为将来AUV能够进行长时间、不间断航行提供了可能。 相似文献
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以欠驱动自主水下机器人(Autonomous Underwater Vehicle,AUV)为试验平台,提出了一种水平面动力定位控制方法。根据自研 AUV 平台的运动执行机构配置,针对其欠驱动特性设计运动控制器,控制纵向推力与转艏力矩,经过路径跟踪与区域镇定两个阶段,使航行器先沿预设路径快速接近目标点,再低速逐渐调整水平位置,最终在该点附近小范围内保持悬停。结合试验数据证明：航行器可抵达并稳定在目标点附近 2 m 范围内,并且在受到外力扰动偏离后能够重新返回,从而验证该动力定位控制方法的有效性。 相似文献
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针对多模态水陆两栖机器人作业环境复杂使得水下运动状态难以预报等难题,基于 CFD 方法求解的水动力系数,构建了机器人水下运动的五自由度动力学和运动学模型。基于机器人水下动力学模型,采用四阶经典龙格库塔法,开展了机器人直航运动及水平面回转运动数值仿真研究,并进行了水池试验验证。 试验结果数据与数值仿真结果误差均不超过 10%,验证了机器人水动力系数及五自由度动力学模型的准确性, 为水陆两栖机器人研制提供了理论与技术支撑。 相似文献
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本文将自适应技术与有限时间技术相结合,研究了分布式自治水下机器人(Autonomous Underwater Vehicle,简称AUV)系统的自适应有限时间一致性跟踪控制问题。首先,应用图论相关知识描述多AUV间的通信拓扑;其次,对每个跟随AUV的运动与受力进行了分析,建立了基于位置姿态与速度姿态的二阶系统模型;然后,设计了非奇异快速终端滑模,并基于此对每个跟随AUV构建了连续分布式控制律,利用自适应律估计阻尼,恢复力和外部干扰的上界;最后,利用SIMULINK仿真来验证跟随AUV的位置与速度跟踪效果,直观地阐明了本文所提算法的有效性。 相似文献
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针对多自主水下机器人(多 AUV)编队问题,提出了一种基于改进跟随领航者法的编队控制方法,通过仿真实验和湖上试验进行了验证。将对跟随者的航向和速度控制简化成单一的速度控制,并采用多级精准速度调控方法进行编队控制。然后,通过仿真实验对该方法进行初步验证,并确定关键控制参数。最后,建立一套队形评价指标,通过外场试验验证该方法有效性。试验结果表明：该编队控制方法在控制的快速性、准确性和稳定性等方面均表现很好。 相似文献
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以便携式自主水下机器人(AUV)和罩式导向对接平台的水下对接过程为研究对象,将碰撞力大小和对接时间作为评价指标,研究导向罩形状、对接管尺度以及AUV与对接管的偏心距对整个对接过程的影响。在三维建模的基础上,使用ADAMS软件进行动力学仿真分析,结果表明,减小导向罩开口角度、增大对接管直径、减小偏心距可以适当减小碰撞力和对接时间。通过对上述影响因素与评价指标建立函数关系,利用多目标优化设计的方法并结合实际情况对参数做出合理的分析和筛选,为水下机器人对接平台提供设计依据。 相似文献
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Healey A.J. Rock S.M. Cody S. Miles D. Brown J.P. 《Oceanic Engineering, IEEE Journal of》1995,20(4):354-361
This paper proposes a novel approach to modeling the four quadrant dynamic response of thrusters as used for the motion control of ROV and AUV underwater vehicles. The significance is that these vehicles are small in size and respond quickly to commands. Precision in motion control will require further understanding of thruster performance than is currently available. The model includes a four quadrant mapping of the propeller blades lift and drag forces and is coupled with motor and fluid system dynamics. A series of experiments is described for both long and short period triangular, as well as square wave inputs. The model is compared favorably with experimental data for a variety of differing conditions and predicts that force overshoots are observed under conditions of rapid command changes. Use of the model will improve the control of dynamic thrust on these vehicles 相似文献
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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
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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
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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
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Model simplification for AUV pitch-axis control design 总被引：1，自引：0，他引：1
Although the use of low-order equivalent models is common and extensively studied for control of aircraft systems, similar analysis has not been performed for submersible systems. Toward an improved understanding of the utility of low-order equivalent models for submersible systems, we examine control design for pitch-axis motion of an autonomous underwater vehicle (AUV). Derived from first principles, the pitch-axis motion of a streamlined AUV is described by third-order dynamics. However, second-order approximate models are common for system identification and control design. In this work, we provide theoretical justification for both the use of and limitations of a second-order model, and we verify our results in practice via a series of case studies. We conclude that a second-order pitch-axis model should often be sufficient for system identification and control design. 相似文献
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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
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The hydrodynamic interaction between an Autonomous Underwater Vehicle (AUV) manoeuvring in close proximity to a larger underwater vehicle can cause rapid changes in the motion of the AUV. This interaction can lead to mission failure and possible vehicle collision. Being self-piloted and comparatively small, an AUV is more susceptible to these interaction effects than the larger body. In an aim to predict the manoeuvring performance of an AUV under the effects of the interaction, the Australian Maritime College (AMC) has conducted a series of computer simulations and captive model experiments. A numerical model was developed to simulate pure sway motion of an AUV at different lateral and longitudinal positions relative to a larger underwater vehicle using Computational Fluid Dynamics (CFDs). The variables investigated include the surge force, sway force and the yaw moment coefficients acting on the AUV due to interaction effects, which were in turn validated against experimental results. A simplified method is presented to obtain the hydrodynamic coefficients of an AUV when operating close to a larger underwater body by transforming the single body hydrodynamic coefficients of the AUV using the steady-state interaction forces. This method is considerably less time consuming than traditional methods. Furthermore, the inverse of this method (i.e. to obtain the steady state interaction force) is also presented to obtain the steady-state interaction force at multiple lateral separations efficiently. Both the CFD model and the simplified methods have been validated against the experimental data and are capable of providing adequate interaction predictions. Such methods are critical for accurate prediction of vehicle performance under varying conditions present in real life. 相似文献
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PETREL,a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV (autonomous underwater vehicle).It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile.In this paper,theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration.In addition,due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes,the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced,and the tailored dynamic equations of the hybrid glider are formulated.Moreover,the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials. 相似文献
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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