AUV归航和坐落式对接的半物理仿真

发布时间：2018-04-24 23:11

本文选题：自主式水下机器人 + 半物理仿真　；参考：《机器人》2017年01期

【摘要】：为解决现有仿真系统忽略海流干扰,不能直观反映模型实时运动状态的问题,设计了一套以3维视景方式呈现的半物理仿真系统,以直观地反映归航过程中、以及以类似直升机坐落方式进行对接回收的过程中AUV(自主式水下机器人)的运动状态.利用Multigen Creator软件对AUV和水下地形环境建模,通过Visual C++调用Vega的仿真界面库实现视景仿真;运动控制部分基于B样条理论设计归航时的全局路径规划方法,通过遗传算法搜索满足欠驱动约束的全局路径;利用制导控制和执行控制分层结构设计路径跟踪控制器,其中PID(比例-积分-微分)制导律能依据海流信息自适应调整参考姿态角,S面控制律能针对状态信息和参考姿态角实现稳定、快速、准确的响应.基于试验平台,模拟了AUV从释放位置出发、跟踪所计算出的全局路径从而完成自主归航最终实现坐落式对接的全过程.结果表明:海流在归航阶段对AUV的归航路径跟踪偏差量影响较小,在坐落式对接阶段当海流与AUV艏向相对角度较大时其影响较大,甚至使回收失败.所设计的半物理仿真系统可在海流影响下规划合理的AUV归航路径以完成回收,并实时直观地反映整个过程.
[Abstract]:In order to solve the problem that the current disturbance is ignored and the real-time motion state of the model can not be reflected directly by the existing simulation system, a set of semi-physical simulation system presented in 3D visual mode is designed to reflect the homing process intuitively. And the motion state of AUV (Autonomous underwater vehicle) during docking and recovery by similar helicopter location. Using Multigen Creator software to model AUV and underwater terrain environment, using Visual C to call Vega simulation interface library to realize scene simulation, motion control part based on B-spline theory to design the global path planning method of homing. The genetic algorithm is used to search the global path which satisfies the underactuation constraint, and the path tracking controller is designed by using the hierarchical structure of guidance control and executive control. PID (proportional integral differential) guidance law can adaptively adjust the reference attitude angle S surface control law according to the current information and can achieve stable fast and accurate response to the state information and the reference attitude angle. Based on the experimental platform, the whole process of autonomous homing and final nesting docking is simulated by AUV, which starts from the release position and tracks the calculated global path. The results show that the current has little effect on the deviation of AUV homing path in the homing stage, but in the nesting docking stage, the effect is greater when the relative angle between the current and the AUV heading is larger, and even the recovery fails. The designed semi-physical simulation system can plan the reasonable AUV homing path under the influence of the current to complete the recovery and reflect the whole process directly in real time.
【作者单位】：哈尔滨工程大学水下机器人技术重点实验室;
【基金】：国家自然科学基金(51279221,51579022)
【分类号】：TP242

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