引水隧洞检测水下机器人运动控制研究

Research on Motion Control of Underwater Vehicle for Diversion Tunnel Detection

针对引水隧洞检测过程中的水下机器人自主运动控制问题,首先将水下机器人在隧洞中的运动控制描述为沿着隧洞中心线的路径跟踪以及与洞壁定距避碰的协同控制;然后,设计了一种基于双环滑模方法的运动控制器;结合实际的隧洞工程检测路线,将提出的控制方法进行仿真模拟,并与PID控制方法作对比。仿真结果表明,在考虑模型的不确定性、复杂干扰和测量噪声的综合影响下,控制器能够使水下机器人完成对隧洞的自动巡检任务,具有更好的控制精度和鲁棒性,为水下机器人在引水隧洞工程检测中的应用提供参考。

Aiming at the problem of autonomous motion control of underwater vehicle in the process of diversion tunnel detection,firstly,in this paper,the motion control of underwater robot in the tunnel is expressed as path tracking along the center line of the tunnel and the cooperative control of fixed distance collision avoidance with the tunnel wall.Then,a motion controller based on double loop sliding mode method is designed,and combined with the actual tunnel engineering detection route.The proposed control method is simulated and compared with PID control method.The simulation results show that under the influence of model uncertainty,complex interference and measurement noise,the designed controller can enable the underwater vehicle to complete the automatic inspection task of the tunnel,and achieves better control accuracy and robustness,which provides a reference for the application of the underwater vehicle in the detection of diversion tunnel engineering.