水下机器人推力器布置及控制仿真研究

Arrangement and Simulation Study on AUV Thruster

针对自治水下机器人(Autonomous underwater vehicle,AUV)推力器布置和控制仿真的困难性及以往电机仿真难以进行的缺点,提出1种进行多推力器运动仿真的方法,该方法建立的模型克服了推力器推力控制系统不能与电机结合的问题,能较好地反映推力器布置和电机的响应情况,可为AUV的运动控制、布置设计及控制系统开发等提供验证模型。针对流线型AUV CRanger-2的推力器布置情况,在对其建立推力器模型的基础上,利用模型对设定推力下的推力器控制进行仿真。仿真结果表明:该方法能够有效地模拟推力器布置既定情况下的电机运动与推力控制,可为水下机器人控制策略优化提供仿真平台。

With a view to the difficulty of the arrangement and control simulation for autonomous under- water vehicles（AUV） and the drawback of motor simulation difficult to be carried, a simulation method for the motion of multi-thrusters is presented. The model set up in this method overcomes the traditional problem that the control system can not perform without the motor. It can provide a verified model for motion control, arrangement design and development of control system of AUV. Aiming at the arrangement of streamlined AUV CRanger-2 thrusters, this model is used to simulate the control performance of thrusters under thrust setting. Simulation shows that the method can simulate the motion of thrusters effectively when the layout is determined, and can provide a simulation platform for optimization of control strategy.