水下运载器动力学仿真以及串级控制器参数优化

Dynamic simulation of underwater vehicle and parameter optimization of cascadecontroller

为了让水下运载器能够更好完成潜射无人机的跨介质机动,基于回转体结构以及ROV(Remote Operated Vehicle)驱动模式设计一种具有动力的潜射无人机水下运载器。根据该运载器的外形结构和驱动模式特点,对其进行动力学建模并设计一种串级控制器控制该运载器的六自由度运动参数,利用Matlab/Simulink进行仿真验证,最后利用Isight优化软件对该运载器的串级控制器参数进行优化,分别利用自适应DOE优化算法和Evol优化算法进行优化计算,经过优化后的串级控制器在六自由度上的轨迹跟踪效果均有提升,其中Evol优化算法优化效果更好,计算成本更小。

In order to enable the underwater vehicle to better complete the trans medium maneuver of the submarine launched UAV,a dynamic underwater vehicle for the submarine launched UAV was designed based on the rotating body structure and ROV(Remote Operated Vehicle)driving mode.According to the shape structure and driving mode characteristics of the vehicle,its dynamics was modeled and a cascade controller was designed to control the six degrees of freedom motion parameters of the vehicle,Matlab/Simulink is used for simulation verification.Finally,ISIGHT optimization software is used to optimize the parameters of the cascade controller of the launch vehicle.Adaptive DOE optimization algorithm and Evol optimization algorithm are used for optimization calculation respectively.The optimized cascade controller has improved track tracking effect on six degrees of freedom,and Evol optimization algorithm has better optimization effect and lower calculation cost.