一种微型AUV的控制系统研究

发布时间：2019-06-03 18:06

【摘要】：随着陆地上各类资源的日益枯竭,人类将资源开发与探索转向了自然资源丰富的海洋,开发和利用海洋资源对人类发展有着重要意义。自主式水下机器人AUV(Autonomous Underwater Vehicle)具有活动隐蔽性好、巡航范围大、机动性能好、安全、智能化等优点,成为一种完成水下资源调查、勘探、情报搜集的重要工具,对水下机器人的研究成为各国军事以及商业领域的研究热点。近年来,随着技术的发展与成熟,AUV的发展趋势偏向于深海、远海、轻量化,同时功能更加强大。更多的微小型AUV开始出现,用以满足与日俱增的军事和商业用途。本文在参考国内外已经研制成功的AUV的基础上,提出了一种“微型低成本便携式AUV”的设计思想,该微型AUV利于携带,具有装卸方便、成本低廉、重复使用率高等特点,可搭载多种传感器以实现不同功能。本文重点对该微型AUV的机械结构以及电控系统进行详细设计,同时对自主航行中路径规划算法进行了初步研究,为后续机械系统和电控系统升级,以及AUV自主航行研究(如定位、导航、避障等)奠定了基础。本文主要研究内容如下:(1)微型AUV机械结构设计:AUV外形采用了鱼雷形状流线型结构,该结构具有外形尺寸较小,重量较轻,机动性能好以及航行范围广等特点。材料选用不锈钢及PVC等耐腐蚀材料,以保证结构的可靠性和稳定性,在密封上,采取O型圈密封的方式,以达到良好的密封效果。该微型AUV采用单推进器配合三个方向舵的方式来实现该微型AUV的6个自由度动作。完成了机械机构的加工与组装等工作。(2)微型AUV总体控制系统设计:该微型AUV控制系统主要功能模块包括主控模块、电源管理模块、导航模块、电机驱动模块等,基于实际需求提出各模块的关键技术指标,完成各个模块及整体电路的设计,并根据实际需求完成了对电池及相关控制芯片的选型工作。(3)AUV运动控制、路径优化算法设计与仿真研究:根据AUV水下六自由度运动特性,定义了微型AUV的固定坐标系和运动坐标系,分析了微型AUV在水下的受力情况,包括重力、浮力、推力等,依据牛顿动量定律,建立了微型AUV空间运动方程。基于建立的水动力模型,采用PID控制算法进行该AUV运动控制仿真。规划微型AUV工作路径时采用了蚁群算法作为最优路径解决办法并进行了仿真研究。对确定的若干给定任务点进行遍历性巡航,使遍历时间最短,以达到节约能源、提高安全返航几率为目的。(4)微型AUV的水下实验:1、对完成总装的AUV进行了水下密封试验,以验证机械结构设计中的密封设计的可靠性和安全性,实验结果表明在目标水深的情况下,密封良好,使用安全;2、运动控制实验:水下上电,完成对微型AUV进行了直线、转弯、上浮、下潜动作的实验,实验证明该AUV能够完成期望的目标动作,该AUV结构设计可用性。最后,安装相关导航设备及传感器,对AUV进行了现场测试。在水质较好且无浪潮时,AUV能够平稳运行,系统稳定。在浪潮较大或水质较为浑浊时,传感器工作精度受到影响且自身不易稳定。上述总体实验结果表明,该微型AUV设计合理,能够完成预期动作,达到预期要求。
[Abstract]:With the depletion of all kinds of resources on land, human resource development and exploration have shifted to the rich marine resources of natural resources, and it is of great significance to develop and utilize marine resources for human development. Autonomous Underwater Vehicle (AUV) has the advantages of good activity, large cruise range, good mobility, safety and intelligence. It is an important tool to complete the investigation, exploration and information collection of underwater resources. The research of the underwater robot has become a hot spot in the military and commercial fields of all countries. In recent years, with the development and maturity of technology, the development trend of AUV is in favor of the deep-sea, the far-sea, the light-weight, and the function is more powerful. More micro-small AUV starts to appear to meet increasing military and commercial use. On the basis of the AUV, which has been successfully developed at home and abroad, this paper presents a "Minitype low-cost portable AUV" design idea, which is beneficial to carry, has the characteristics of convenient loading and unloading, low cost, high repetition rate and the like, and can carry a plurality of sensors to realize different functions. In this paper, the mechanical structure of the micro-AUV and the electric control system are designed in detail. At the same time, the path planning algorithm of the autonomous navigation is studied, which is a follow-up mechanical system and an electric control system upgrade, and the AUV autonomous navigation research (such as positioning, navigation, The barrier, etc.) lays the foundation. The main contents of this paper are as follows: (1) Micro-AUV mechanical structure design: The shape of the AUV is a streamlined structure. The structure has the characteristics of small size, light weight, good mobility and wide range of navigation. The material is made of corrosion-resistant materials such as stainless steel and PVC, so as to ensure the reliability and stability of the structure. On the seal, an O-ring seal is adopted to achieve a good sealing effect. The micro-AUV realizes the 6-degree-of-freedom operation of the micro-AUV by using a single-propeller and three rudders. And the processing and assembly of the mechanical mechanism are completed. (2) The general control system of the micro-AUV control system is designed as follows: the main functional module of the micro-AUV control system comprises a main control module, a power supply management module, a navigation module, a motor driving module and the like, And the selection of the battery and the related control chip is completed according to the actual requirement. (3) AUV motion control, path optimization algorithm design and simulation study: According to the six-degree-of-freedom motion characteristics of AUV, the fixed coordinate system and the motion coordinate system of the micro-AUV are defined, and the stress of the micro-AUV under water is analyzed, including gravity, buoyancy, thrust, etc. Based on the Newton's law of momentum, a micro-AUV space motion equation is established. Based on the established hydrodynamic model, the AUV motion control simulation is carried out with the PID control algorithm. The ant colony algorithm is used as the optimal path solution and the simulation research is carried out when the micro-AUV working path is planned. And the ergodic cruise is carried out on the determined plurality of given task points, so that the traversal time is the shortest so as to achieve the purpose of saving energy and improving the safety return probability. (4) The underwater experiment of the micro-AUV:1. The underwater sealing test is carried out on the AUV of the final assembly to verify the reliability and safety of the sealing design in the mechanical structure design. The experimental results show that the sealing is good and the safety is used in the case of the water depth of the target. The experiment shows that the AUV can achieve the desired target action and the usability of the AUV structure. Finally, the relevant navigation equipment and sensors are installed, and the on-site test is carried out on the AUV. When the water quality is good and there is no wave, the AUV can run smoothly and the system is stable. When the tide is large or the water quality is relatively turbid, the working precision of the sensor is affected and is not easy to be stable. The above general experimental results show that the micro-AUV is reasonable in design, capable of completing the expected action and meeting the expected requirements.
【学位授予单位】：上海海洋大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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