新型自主水下航行器的运动控制研究与应用

The motion control and application of a new type autonomous underwater vehicle

针对与上海交通大学共同研制的ZY-1型自主水下航行器,本实验室承担了其动力推进装置设计与优化任务。本文首先综合水动力特性和新型后置推进器的设计,分析此新型AUV后置X型推进器的推力模型,对AUV在水平面与垂直面的运动方式和相应的控制算法进行阐述,并设计了PID控制器。接下来在搭建的实验平台上对PID控制参数进行整定。最终在拖曳水池试验中验证了所述方法的合理性,并且在后期的湖试中得到了满意的试航结果。

In view of the version of ZY-1 AUV（autonomous underwater vehicle） which developed with Shanghai Jiaotong University, our laboratory undertook the task of designing and optimized the mechanical structure and propulsion system.First of all,the X thrust model of the new type AUV is analyzed by combining the hydrodynamic characteristics and the design of the new deflector. Then described the corresponding control algorithm of the new typr AUV in the horizontal and vertical and designed the PID controller. Next, the PID control parameters are optimized on the experimental platform. Finally, the rationality of the method was verified in the test of the towing pool, and the satisfactory test results were obtained in the later lake test.