多自由度仿生水下航行器的设计及控制

发布时间：2018-05-18 05:45

  本文选题：多自由度 + 水下航行器　； 参考：《中国科学技术大学》2016年硕士论文

【摘要】：无人水下航行器在军事、民用等各领域都有广泛的应用前景,相比于传统的螺旋桨推进,模仿鱼类游动等的仿生推进方式在效率、隐蔽性及机动性上表现出了更加明显的优势。但同时尾鳍摆动等方式具有横向力较大、推进力周期变化等特点,推进稳定性不尽如意,增加运动自由度如长鳍波动方式,有望显著增强稳定性。本文针对多自由度组合仿生推进方式,分析其推进能力,设计基于中枢模式发生器(CPG)的控制系统,具体工作包括：1.基于CPG中的相位振荡器模型,设计了针对四尾鳍、八舵机的控制系统。分析了各耦合系数对振幅、偏移量和相位差的收敛速度的影响,讨论了多个控制目标参数同时变化时CPG模型的响应特性。结果表明,CPG模型在目标参数变化时可以快速、稳定的收敛到新状态,且实现了航行器偏航、俯仰的自动反馈控制。2.基于商业计算软件Fluent,采用动网格,由数值模拟对自由游动状态下的双长鳍波动推进模型进行了考察。从推力、侧向力以及功率等方面考察了频率、振幅、波数和鳍高鳍长比等参数对组合长鳍波动推进能力的影响,以对波动长鳍组合推进样机研制参数的选取提供一定的指导。3.针对四长鳍推进样机设计了CPG控制系统。对4组、36个舵机建立了相应的CPGs拓扑结构；以PIC单片机为控制芯片、陀螺仪为传感器,建立了航向反馈控制方案。仿真结果表明,各机动动作间的转换均可以在一个周期内实现；反馈控制力矩根据偏离角度自适应调节,以保证模型游动时的稳定性。
[Abstract]:Unmanned underwater vehicle (AUV) has a wide application prospect in military, civil and other fields. Compared with the traditional propeller propulsion and the imitation of fish swimming, the bionic propulsion mode shows more obvious advantages in efficiency, concealment and maneuverability. But at the same time, the caudal fin swinging has the characteristics of large transverse force and periodic variation of propulsion force, so the stability is not satisfactory, and the stability is expected to be significantly enhanced by increasing the degree of freedom of motion, such as the undulating mode of the long fin. In this paper, a control system based on central mode generator (CPG) is designed based on the analysis of the propulsion capability of multi-degree-of-freedom combined bionic propulsion. The specific work includes: 1. Based on the phase oscillator model in CPG, the control system for four tail fin and eight steering gear is designed. The effects of coupling coefficients on the convergence rate of amplitude, offset and phase difference are analyzed, and the response characteristics of CPG model are discussed when the parameters of multiple control targets change simultaneously. The results show that the CPG model can converge to the new state quickly and stably when the target parameters change, and realize the automatic feedback control of vehicle yaw and pitch. 2. Based on the commercial computing software Fluent. the numerical simulation is used to investigate the double albacore wave propulsion model in free swimming state by using moving grid. The effects of frequency, amplitude, wavenumber and fin-height ratio on the undulating propelling ability of the combined long-fin are investigated from the aspects of thrust, lateral force and power, which provide some guidance for the selection of the parameters of the combined long-fin propulsion prototype. A CPG control system is designed for the quadrangle propulsion prototype. The corresponding CPGs topology is established for 36 steering machines in 4 groups, and the heading feedback control scheme is established with PIC microcontroller as the control chip and gyroscope as the sensor. The simulation results show that the conversion between maneuvering actions can be realized in one period, and the feedback control torque is adjusted adaptively according to the deviation angle to ensure the stability of the model.
【学位授予单位】：中国科学技术大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U674.941
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本文编号：1904648