面向海底光学探测使命的自治水下机器人水平路径跟随控制

发布时间：2018-01-19 04:15

本文关键词： 控制科学与技术自治水下机器人海底光学探测改进型PID 路径跟随水平推进器　出处：《兵工学报》2017年06期 　论文类型：期刊论文

【摘要】：针对利用光学探测设备对海底目标探测与搜索的使命,自治水下机器人(AUV)需具备更精确的航行控制性能,为此提出一种不依赖模型的改进型PID控制算法,通过对增设的左右水平推进器进行控制,以实现AUV低速时水平面的精确航行。将整个控制器分为两层:内层为偏航距离PID控制器,将输出量转化为所需偏转角;外层为航向PID控制器,将内层计算结果转化为航向偏差,对其进行PID计算,输出为偏转所需推力和推力矩值。通过对设定探测路线进行路径跟随,以反映水平面航行控制精度。通过湖上试验,得出精确的路径跟随航迹,实现了航向角偏差均值为0.09°、航向距离偏差均方差为0.29 m的航行稳定控制,验证了该控制方法的可行性。
[Abstract]:Aiming at the mission of using optical detection equipment to detect and search submarine targets, autonomous underwater vehicle (AUV) should have more accurate navigation control performance. For this reason, an improved PID control algorithm is proposed, which is independent of the model and controls the left and right horizontal thrusters. The whole controller is divided into two layers: the inner layer is the yaw distance PID controller, and the output is converted into the required deflection angle; The outer layer is a heading PID controller. The inner layer calculation results are converted into course deviation, and the PID calculation is carried out. The output is the required thrust and push torque value of deflection, and the path is followed by setting the detection route. In order to reflect the accuracy of horizontal navigation control, through the experiment on the lake, the accurate path following track is obtained, and the mean deviation of course angle is 0.09 掳. The feasibility of this control method is verified by the navigation stability control with the mean deviation of course distance deviation being 0.29 m.
【作者单位】：中国科学院沈阳自动化研究所机器人学国家重点实验室;东北大学机械工程与自动化学院;
【基金】：中国科学院国防科技创新基金项目(CXJJ-16M221)
【分类号】：TP242
【正文快照】： 0引言目前,利用自治水下机器人(AUV)搭载探测设备完成海底高精度探测和微小目标识别的需求日益强烈,而海底探测手段主要为声学探测设备。但声学存在诸多局限性,如声纳成像的像素信息少,近距离探测时易受环境噪声和目标背景物的干扰等[1-2]。与声学探测设备相比,光学设备则具有

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