全驱动型AUV三维路径跟踪控制系统设计及分析

Design and analysis of fully-actuated AUV’s three-dimensional path tracking control system

[目的]为满足全驱动型自主式水下机器人(AUV)水下搜救、回收及海底地貌成像等实际任务需求,研究全驱动型AUV三维路径跟踪控制应用的方法。[方法]阐述自主研发的“探海I型”全驱动型AUV系统组成,研究并建立该AUV推进器、水平面和垂直面控制的数学模型,设计一种新颖的智能积分S面三维路径跟踪控制器,分析设计的控制系统的稳定性,并通过仿真及湖上试验进行验证。[结果]结果表明所开发的AUV运行可靠,设计的控制器能较好地完成三维路径跟踪任务,可满足水下实际任务的需求,[结论]其三维路径跟踪控制器对全驱动型AUV及其他领域的路径跟踪控制应用具有借鉴意义。

[Objectives]In order to meet the requirements of underwater search and rescue,recovery and submarine geomorphology imaging of fully-actuated Autonomous Underwater Vehicle(A UV),the application method of its three-dimensional path tracking control is studied.[M ethods]The composition of the self-developed fully-actuated"T-SEA I"AUV was described.The mathematical models of the thruster,h orizontal and vertical controls of the AUV were studied and established.A novel intelligent integrated S surface controller of three-dimensional path tracking was designed,a nd the stability of the system was analyzed.The simulation analysis and lake trial were undertaken.[R esults]The results show that the AUV developed in this paper runs reliably.The controller designed can better complete the three-dimensional path tracking task and meet the actual underwater task requirements.[Conclusions]The AUV three-dimensional path tracking controller can be used for reference in the application of fully-actuated AUVs and the path tracking control in other fields.