摘要
介绍了一种航迹规划与控制方法,使得无人水下航行器(UUV)能够使用CTD测量仪完成水下探测任务。详细介绍了所研究的UUV硬件系统体系结构,同时完成UUV水平面和垂直面的航迹规划,使其在满足UUV设计要求及CTD测量特性约束条件下能够完成水下探测任务。为了实现UUV在三维空间里较好的跟踪所规划的航迹,应用自抗扰控制(ADRC)技术,分别设计了自抗扰航向控制器和纵倾控制器。所研究的航迹规划与控制方法在UUV半实物试验中得以验证。
This paper presents path planning and control methods to enable an unmanned underwater vehicle（UUV） to carry out detecting mission using a CTD meter.The hardware system architecture of researched UUV is described in detail.The path planning method is synchronously resolved in both horizontal and vertical.The planning routes satisfy the UUV and CTD detecting constraints which let UUV carry out detecting mission.In order to make UUV track the planning 3D routes,active disturbance rejection control（ADRC） method is used to control the UUV.The mainly control measures are focus on heading control and pitch control of the UUV.So,ADRC heading controller and pitch controller are designed respectively to reduce the coupling of UUV motion.The planning and control method are embedded in UUV and validated by hardware-in-loop experiment.
出处
《中国造船》
EI
CSCD
北大核心
2011年第1期103-111,共9页
Shipbuilding of China
基金
黑龙江省博士后基金(项目编号:LBH-Z09242)
关键词
船舶、舰船工程
无人水下航行器
CTD
航迹规划
自抗扰控制
ship engineering
unmanned underwater vehicle
CTD
path planning
active disturbance rejection control
