摘要
对自主水下航行器(AUV)在执行水下搜救任务过程中遇到的三维路径跟踪控制和定点驻停问题进行研究。在固定坐标系和机体坐标系下建立AUV的运动学模型,引入流体坐标系,设计适宜进行运动控制的三维路径跟踪控制器,并在Serret-Frenet坐标系下建立AUV的路径跟踪误差模型;基于三维视距制导律控制设计AUV的三维路径跟踪控制器,在此基础上提出一种适于水下搜救工况的AUV路径跟踪控制方法,使AUV能完成对参数化路径的跟踪和在预设目标点的驻停;同时,基于李雅普诺夫稳定性原理证明该控制器的稳定性。仿真试验结果表明,设计的控制器有效,能实现对面向水下搜救的AUV路径跟踪控制。
The three-dimensional path following control and fixed point stationing problem of autonomous underwater vehicle in the process of underwater search and rescue mission is addressed,firstly,the three-dimensional path following control of AUV is established in fixed coordinate system and airframe coordinate system,meanwhile,the fluid coordinate system is introduced to design the three-dimensional path following controller suitable for motion control,in Serret-Frenet coordinate system The path following error model of the AUV is established in the Serret-Frenet coordinate system;Then the three-dimensional path following controller of the AUV is designed based on the three-dimensional line-of-sight guidance law control,and based on this,a path following control method of the AUV is proposed which is suitable for underwater search and rescue conditions,so that the AUV can complete the following of the parametric path and stop at the preset target point;finally,the stability of the controller is proved based on the Liapunov stability principle.Simulation experiments verify the effectiveness of the designed controller.This controller can be used as a reference for AUV control methods oriented towards underwater search and rescue.
作者
王浩亮
于德智
卢丽宇
刘陆
古楠
彭周华
WANG Haoliang;YU Dezhi;LU Liyu;LIU Lu;GU Nan;PENG Zhouhua(Dalian Maritime University,Marine Engineering College,Dalian 116026,Liaoning,China;Dalian Maritime University,State Key Laboratory of Maritime Technology and Safety,Dalian 116026,Liaoning,China;Dalian Maritime University,Marine Electrical Engineering College,Dalian 116026,Liaoning,China)
出处
《船舶工程》
CSCD
北大核心
2023年第10期110-115,125,共7页
Ship Engineering
基金
国家自然科学基金项目资助项目(51979020,52271304)
国家青年拔尖人才计划资助项目(36261402)
辽宁省自然科学基金计划(博士科研启动计划)(2023-BS-077)
辽宁省教育厅高等学校基本科研项目(LJKZ0044)
大连海事大学博联科研基金项目(3132023616)
大连市科技局高层次人才创新支持计划资助项目(2020RQ013)。
关键词
自主水下航行器
路径跟踪
三维视距制导
定点驻停
水下搜救
autonomous underwater vehicle(AUV)
path following
three-dimensional line-of-sight guidance
fixed-point stopping
underwater search and rescue
作者简介
王浩亮(1985—),男,博士、副教授。研究方向:海洋无人航行器规划、控制与协同;通信作者:古楠(1993—),男,博士、讲师。研究方向:多无人船集群控制。
