无缆自治水下机器人运动控制技术研究

Research on motion control of an autonomous underwater vehicle

针对无缆自治水下机器人满足不同任务要求下的运动控制进行了研究。引入极大似然参数估计算法获取水下机器人水动力系数,并在此基础上搭建起6自由度运动仿真系统。通过改进传统水下机器人体系结构中的推力器布置方式、推力分配策略、运动控制方法和船位推算算法,使得无缆自治水下机器人的运动控制系统在保持原有精确定位功能的同时也能完成远距离高速航行等任务,从而解决了高速航行给无缆自治水下机器人带来的一系列问题。海上进行的速度控制、位置控制和长航程导航试验,验证了无缆自治水下机器人在所提出的运动控制系统控制下可以满足任务需求,具有一定的工程应用价值。

The research on the motion control of an autonomous underwater vehicle （AUV） under different task requirements was conducted. The maximum-likelihood algorithm was adopted to obtain the hydrodynamic coefficients of the AUV, and a six-degree of freedom simulation system was built up. By adjusting the thruster deployment, the force allocation strategy, the motion control method and the dead-reckoning algorithm, the new motion control system of the AUV can finish the tasks such as long distance navigation and high speed voyage while the dynamic positioning function is reserved. Themfore, lots of problems caused by high speed can be solved. Plenty of experiments including velocity control tests, position control tests and tong distance navigation tests were conducted in the sea. The experiments show that the AUV controlled by the proposed motion control system can meet the requirements of tasks. Some reference values in engineering application can be demonstrated by the sea trial results.