水下机器人下潜过程量化稳定性分析

Quantitative Stability of Underwater Robot during Diving

针对水下机器人在下潜过程中易因波浪、海流干扰而出现失稳、失控等运动稳定性问题。基于伪速度的欧拉-庞卡莱方法对水下机器人进行符号动力学建模,采用李雅普诺夫指数算法进行量化运动稳定性分析。根据李雅普诺夫指数理论获取水下推进器转速参数与系统运动稳定性之间的量化关系,从系统参数优化角度指导了系统参数设计及优化控制系统,提高了系统的可靠性和稳定性。验证了李雅普诺数夫指数法量化分析水下机器人运动稳定性的可行性及有效性。

Considering that the underwater vehicle is easy to be instable and out of control in diving process due to the disturbance from wave and water movement, the Euler-Poincare method based on quasi-velocities was used to model the underwater vehicle dynamics. The quantitative analysis of motion stability was carried out with Lyapunov exponent algorithm. The quantitative relationship between propeller speed parameters and system stability was obtained according to the Lyapunov exponent theory. From the perspective of system parameter optimization, the system parameters were designed and the control system was optimized. The system reliability and stability were improved. The feasibility and effectiveness obtained based on Lyapunov exponent quantive analysis of underwater robots were verified.