小型AUV动力定位建模与控制仿真

Dynamic positioning modeling and control simulation of small-sized AUV

伴随着水下潜航器的进一步深入研究,AUV产品正朝着小型化、民用化的方向不断发展。以小型AUV为研究对象的水动力性能分析、路径规划、水下通信等问题成为AUV产品设计的核心所在。本文基于ITTC双参数波浪谱及漂移力计算公式,在Matlab中建立不规则波浪仿真模型,对AUV运动规律进行预测。搭建动力定位控制系统Simulink模型,基于粒子群算法优化PID控制器参数,对AUV进行定位控制研究。成功模拟小型AUV的工作水环境并搭建动力定位仿真台架,实现AUV的定位控制,为AUV水动力性能试验及动力定位系统的软硬件设计创造了条件,为小型AUV产品的设计实现奠定基础。

AUV products are designed for smaller size and civil purpose with the further study of underwater vehicles.Based on small-sized AUVs, there are some problems about hydrodynamic performance analysis, path planning and underwater communication, which are the keys of AUV design. The paper set up an irregular wave simulation model in Matlab to predict the movement of AUV, which is based on ITTC two-parameter wave spectrum and drifting force computational formula. The paper also set up Simulink model of dynamic positioning control system, using particle swarm optimization to select PID controller parameters to do research on dynamic positioning of AUV. The study successfully simulated the water environment of small-sized AUV, set up dynamic positioning Simulink frame and realized the primary positioning control of AUV. The study created conditions for further hydrodynamic performance experiment and design of hardware and software for positioning system, which lay the foundation for the design of small-sized AUV products.