基于水动力试验的深海开架式潜水器三维轨迹跟踪控制平台设计(英文)

3D Trajectory Tracking Control Platform Design for Deep Sea Open-framed Remotely Operated Vehicle based on Hydrodynamics Test

由于深海潜水器的高研发成本和海洋环境的复杂性,文章设计并开发了一个深海潜水器近海底三维轨迹跟踪控制仿真平台,仿真平台主要包括海图数据处理、海底环境生成、水下机器人建模、轨迹跟踪仿真四个主要模块。建造了1:1.6的ROV缩尺比模型,通过VPMM和LAHPMM进行了模型水动力试验,获得了相关的水动力系数,并根据潜水器的结构布置特征,建立了5自由度的潜水器运动数学模型。在Windows操作系统VC++6.0集成环境下,通过OpenGL图形开发库,搭建了该仿真平台,并进行了初步调试,获得了比较理想的模拟效果。

In order to deal with the high cost of R＆D and the risk of oceanic environment, this pa- per designs trajectory tracking control simulating platform for deep sea open-framed remotely oper- ated vehicle, which is being researched and developed by Shanghai Jiao Tong University. Hydrody- namics coefficients are obtained through the VPMM and LAHPMM towing tests, and kinematic and dynamic model of the vehicle are found based on hydrodynamic tests. The platform includes chart data processing, seafloor condition generating, vehicle modeling and trajectory tracking displaying, and virtual visual seafloor is set up through large scale chart data. Finally, the platform is developed by using VC＋＋6.0 and OpenGL.