基于遗传算法优化的水下机器人路径跟踪模糊控制技术研究

发布时间：2018-02-27 05:19

本文关键词： 水下机器人路径跟踪模糊控制遗传算法　出处：《浙江大学》2017年硕士论文　论文类型：学位论文

【摘要】：空间曲线路径跟踪控制是水下机器人完成海地探测、海底管道检测和光缆维护等使命任务的重要技术保证。本课题针对自制水下机器人样机“Sea Mouse”号进行了水下机器人路径跟踪控制技术研究。考虑其运动学和动力学模型的非线性、自由度之间的耦合性、以及存在未知海流干扰的特点,对遗传算法优化的模糊控制器实现“Sea Mouse”号路径跟踪控制进行了深入研究。本文首先介绍了“Sea Mouse”号的总体设计方案,并针对“Sea Mouse”号的结构和运动特性建立了动力学模型。最后进行操纵性仿真验证了所建立的“Sea Mouse”号运动模型的正确性。本文首先基于视线法建立空间路径跟踪的运动误差模型。该方法将“SeaMouse”号的六自由度位置误差跟踪控制转化为航速误差,艏向角误差和纵倾角误差的综合控制问题;设计路径跟踪模糊控制器,确定了隶属度函数、模糊控制规则、反模糊化方法。最后基于MATLAB对不同航速下的空间曲线路径跟踪控制进行仿真,验证了此控制算法的有效性。本文针对模糊控制器控制规则制定简单导致控制精度下降的问题,采用遗传算法进行优化,并在参数选择模块提出一种自适应该进方案。最后分别在时变连续海流干扰和定常非连续海流干扰下进行优化前后的控制器路径跟踪控制效果对比,仿真结果验证了基于遗传算法优化后的模糊控制器的有效性。本文最后在理论研究的基础上进行了实验研究,介绍了“SeaMouse”号控制系统设计,包括了硬件设计和软件设计。进行了水池实验,实验结果验证了优化后的控制器在路径跟踪控制中具有更好的稳定性和控制精度。
[Abstract]:The space curve path tracking control is an underwater vehicle that does Haiti exploration. In this paper, the path tracking control technology of underwater vehicle prototype "Sea Mouse" is studied. The nonlinear kinematics and dynamics models are considered. The coupling between degrees of freedom and the characteristics of unknown current disturbance are studied in this paper. The fuzzy controller optimized by genetic algorithm to realize the path tracking control of "Sea Mouse" is deeply studied. Firstly, the overall design scheme of "Sea Mouse" is introduced in this paper. A dynamic model is established for the structure and motion characteristics of the "Sea Mouse". Finally, the maneuverability simulation is carried out to verify the correctness of the established "Sea Mouse" motion model. Firstly, based on the line-of-sight method, the spatial path tracking operation is established in this paper. In this method, the position error tracking control of "SeaMouse" with six degrees of freedom is transformed into speed error. The integrated control problem of bow angle error and longitudinal angle error is discussed, the path tracking fuzzy controller is designed, the membership function and fuzzy control rule are determined. Finally, based on the simulation of path tracking control of spatial curve at different speeds by MATLAB, the effectiveness of this control algorithm is verified. This paper aims at the problem that the control precision of fuzzy controller is reduced simply by making control rules. Genetic algorithm is used to optimize, and an adaptive scheme is proposed in the parameter selection module. Finally, the controller path tracking control results before and after optimization are compared under time-varying continuous current interference and steady discontinuous current disturbance. The simulation results verify the effectiveness of the fuzzy controller based on genetic algorithm optimization. Finally, the experimental research is carried out on the basis of theoretical research, and the design of "SeaMouse" control system is introduced. The experimental results show that the optimized controller has better stability and control precision in path tracking control.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;P715

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