可重构磁耦合推进水下机器人设计与性能评估

Design and Performance Evaluation of Underwater Vehicle with Reconfigurable Magnetic-coupling Thrusters

为了经济高效地实现矢量推进,提高水下机器人的机动性能,设计了一种新型矢量推进水下机器人。该机器人采用两个可重构磁耦合推进器作为推进系统的主动力单元,每个推进器都具备两个自由度的矢量重构能力,相较于传统水下机器人,拥有更高的可操纵性和灵活性。本文通过建立推进系统模型,完成了机器人的运动规划,并利用测力实验装置,对机器人的动力性能进行了评估。在此基础上,对机器人进行了前进、偏航、上浮、下潜等多自由度的运动控制实验。实验结果表明,该机器人能够高效地实现多个自由度的运动,新型可重构磁耦合推进器能够稳定的提供矢量推力,验证了该设计方案的可行性。

For vectorial propulsion economically and efficiently to improve the maneuverability of AUV,a novel AUV with vector propulsion was proposed.The propulsion system of the robot formed by two reconfigurable magnetic coupling thrusters.Each thruster has the vector reconstruction capability of two DOFs,which makes it more maneuverable and flexible than the traditional underwater vehicles.The motion planning of the robot is completed by establishing the propulsion system model,and the dynamic performance of the robot is evaluated with force measuring device.Then,the motion control experiments of the robot with multiple degrees of freedom,such as forward motion,yaw motion,heave motion and diving motion,were carried out.The experimental results show that the robot can efficiently realize the movement of multiple degrees of freedom,and the new reconfigurable magnetic coupling thrusters can stably provide vector thrust,which verifies the feasibility of the design scheme.