作业型水下自主机器人系统开发及其姿态控制研究

发布时间：2018-04-05 19:09

本文选题：水下自主机器人　切入点：浮力调节装置　出处：《浙江大学》2017年硕士论文

【摘要】：无人潜器的发展方向是轻量化,无缆自主和功能丰富化。而AUV则因其无缆自主的特点,被用来执行需要大范围机动的轻量任务。但绝大多数AUV只能用于观测而没有操作的能力。因此,对作业型水下自主机器人(IAUV)进行设计开发和研究是必要的。为了搭载不同水下作业部件和支持水下作业实验展开,本文根据需求设计开发了用于浅水的小型轻量的作业型AUV机体。其可以无拖缆进行水下自主移动,可以根据需要拓展、更换不同的工作部件和推进器,从而可以用于不同的水下操作任务并配置与之适应的动力分布。为了使得作为搭载操作部件的机体能够保持稳定的姿态,本文设计了相应的姿态控制器。而进行水下操作的IAUV是一个受未知大扰动和自身特性时变的耦合非线性系统,因此本文引入CMAC网络对时变且复杂的系统进行适应,并利用李雅普诺夫原理证明了闭环系统的稳定性,彻底消除自适应控制器的潜在发散可能。通过不同控制器控制结果的比较,验证了CMAC鲁棒自适应控制律不仅能快速准确适应扰动,还能稳定的运行不出现突然发散的现象。作业型水下自主机器人会要工作在不同的深度,如果通过推进器持续运行来调节深度,将是一个及其耗费能量的过程。利用浮力调节装置进行浮沉控制就显得很有必要。本文提出并设计完成了新型的自排油浮力调节原理,从而使浮力调节装置在浅水处工作更可靠。本文还建立了浮力调节装置的动力学模型。为了更快的调节深度,本文基于最大值原理证明了时间最优控制有限切换序列的存在,并进一步综合最优控制器与PD控制器二者优点,设计了变结构深度控制器。其在大范围深度调节时能够获得快速性,同时对于目标深度跟踪有较好的准确性和稳定性。
[Abstract]:The development direction of unmanned submersible vehicle is light weight, cable-free autonomy and rich function.AUV is used to carry out light tasks that require wide range of maneuvers because of its cable-free autonomy.But the vast majority of AUV can only be used for observation and no operational ability.Therefore, it is necessary to design, develop and research the AUV (Autonomous underwater vehicle).In order to carry different underwater operating parts and support underwater operation experiments, a small light-weight AUV airframe for shallow water was designed and developed according to the requirements.It can be moved independently under water without towing cable and can be expanded according to the need to replace different working parts and thrusters so that it can be used in different underwater operation tasks and can be configured with suitable dynamic distribution.In order to make the airframe keep a stable attitude, a corresponding attitude controller is designed.The underwater operation of IAUV is a coupled nonlinear system with unknown large disturbances and time-varying characteristics. Therefore, the CMAC network is introduced to adapt to time-varying and complex systems.The stability of the closed-loop system is proved by using Lyapunov principle and the potential divergence of the adaptive controller is eliminated completely.By comparing the control results of different controllers, it is proved that the CMAC robust adaptive control law can not only adapt to the disturbance quickly and accurately, but also can run stably without the phenomenon of sudden divergence.The operating autonomous underwater vehicle (AUV) will have to work at different depths. If the depth is adjusted by the continuous operation of the propeller, it will be an energy-consuming process.It is necessary to use the buoyancy adjusting device to control the buoyancy.In this paper, a new principle of self-discharging oil buoyancy regulation is proposed and designed, which makes the buoyancy regulating device more reliable in shallow water.The dynamic model of the buoyancy regulator is also established in this paper.In order to adjust the depth more quickly, the existence of finite switching sequence of time optimal control is proved based on the maximum principle, and the variable structure depth controller is designed by combining the advantages of optimal controller and PD controller.At the same time, it has good accuracy and stability for target depth tracking.
【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

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