水下机器人路径控制与仿真

Path tracking control and simulation of underwater vehicle

研究了水下机器人的路径跟踪问题 .首先考虑重力、浮力、推力、水动力以及附加质量的影响 ,建立了 6自由度水下机器人的动力学模型 .在此基础上设计了非线性控制系统 ,包括一个内控制回路和一个外控制回路 .内控制回路根据机器人动力学模型引入非线性补偿 ,使得经内控制回路作用后的机器人化为一个解耦的线性定常系统 ,外控制回路采用比例微分 (PD)控制 ,根据机器人实际轨迹与期望轨迹间的偏差进行负反馈控制 .最后通过MATLAB对水下机器人追踪水面目标和跟踪空间螺旋线进行仿真 ,并给出了仿真曲线 ,从仿真结果可以看出 ,利用该方法可以使水下机器人具有较强的抗干扰能力 ,能够较好地实现对时变理论轨迹的跟踪 .

Path tracking of underwater vehicle was discussed. The kinetic equations of 6-degrees of freedom underwater vehicles were given first, taking into account the gravity, buoyancy, thrust power and ocean current etc. Then a nonlinear controller, which includes an inner loop and an outer loop, was designed to track the geometric path. In inner loop, nonlinear compensation was imported to simplify the robot system to a linear system; in outer loop, negative feedback was used to correct the wrap between the actual path and ideal path. Simulation results about pursuing surface vehicles and tracking helical line were given to demonstrate the proposed scheme. Simulation results show that the strategy has nice performance of tracking ability.