多翼自治水下机器人动力学建模与姿态控制

Dynamic modeling for multi-wing autonomous underwater vehicle motion control system

为了提高多翼自治水下机器人姿态自主控制的稳定性和控制性能,设计了基于多翼水下机器人全参数控制模型的姿态控制系统.首先对多翼自治水下机器人进行运动学和动力学分析,建立多翼自治水下机器人的全参数运动控制模型;在此基础上建立多翼自治水下机器人整体控制系统,设计基于线性二次型最优控制的多翼自治水下机器人姿态控制器;最后进行多翼自治水下机器人姿态控制仿真实验.结果表明:在给定的外界干扰下,多翼自治水下机器人能够快速稳定跟踪目标姿态,所建立的控制器以及控制模型能够满足多翼水下机器人姿态的自主控制需要,达到设计目标.

In order to improve the stability and performance of multi-wing autonomous underwater vehicle′s attitude control,An attitude control system with all parameters was designed for the multiwing autonomous underwater vehicle to research multi-wing control methods.Firstly,through the dynamics and kinematics analysis of multi-wing autonomous underwater vehicle,its motion control model with all parameters was established;Then on this basis,the whole control system model of the underwater vehicle was built and the attitude control system based on linear quadratic regulator was designed;At last,the simulation experiments of attitude control were conducted,and the results showed that multi-wing autonomous underwater vehicle could rapidly follow the target attitude with stability in the case of some external disturbances,the established attitude controller and the control model could meet the autonomous control requirements of the multi-wing underwater vehicle,which was verified to achieve the purpose of controller design.