堤坝检测水下机器人运动控制系统的研究

Research on the motion control system of GDROV

堤坝检测水下机器人是为查找江、河、湖、海中各种堤坝的裂缝、破损等质量问题而设计的开架式水下机器人.文中介绍了堤坝检测水下机器人的运动控制系统,详细讨论了自动扫坝控制过程的运动控制算法和基于船位推算的导航方法.在综合考虑垂向和纵向自由度的运动能力的基础上,利用S面控制算法设计了运动控制器,使得水下机器人能够在垂向和纵向运动上取得协调,从而跟踪指定的路径.采用强跟踪卡尔曼滤波进行船位推算,解决了系统的导航问题.最后通过外场试验验证了整个运动控制系统的可行性和可靠性.

A general detection remotely operated vehicle （GDROV） is an open-frame remotely operated underwater vehicle designed to inspect dams for cracks, crevices and other potential problems. Here, the motion control system for a GDROV is introduced and the automatic control of dam-scanning and a dead-reckoning algorithm for navigation is discussed. An S controller was adopted to design the motion control system. Based on the consideration of motion ability in longitudinal and vertical direction, the controller can coordinate motion on these dimensions to track the reference trajectory. Finally, the feasibility and reliability of the motion control system were verified bv lake trial.