摘要
单桨微型高速AUV运动时受到螺旋桨转矩的影响会产生剧烈横摇,水平和垂直面运动强烈耦合,甚至发生倾覆现象。针对单桨微型高速AUV运动控制问题,采用了一种主动控制与被动控制相结合的控制策略,利用方向舵与升降舵差动的方式产生主动横摇力矩,并在有限空间内对AUV内部结构进行了重新布局,降低了横摇主动控制引起的艏向与深度控制面操纵性能的损失;设计了横摇、艏向和深度滑模控制器控制器,在考虑执行机构饱和的条件下优先分配横摇控制指令。仿真结果表明该控制策略在有效地镇定横摇时可以降低操纵性损失,减小水平面与垂直面运动的耦合,实现深度和艏向运动的跟踪控制。
Micro high-speed autonomous underwater vehicle(AUV)with single propeller suffers from severe roll motion induced by propeller torque,which leads to coupling of horizontal plane and vertical plane and even capsizing during turning and diving. A control strategy combining active control and passive control is proposed for the motion control of micro high-speed AUV. Differential action of rudder and elevator is used to generate active roll stabilization torque,and the internal structure of AUV has been re-arranged in limited space to reduce the loss of maneuverability caused by active roll control. Roll,heading and depth sliding mode controllers are designed. An allocation method,which gives priority to roll control command,is applied due to the saturation constraints of actuators.Simulation results show that this control strategy can reduce the loss of maneuverability when effectively stabilizing roll motion,reduce the coupling of vertical and horizontal plane,and improve depth and heading tracking ability.
作者
施涤凡
冯正平
SHI Di-fan;FENG Zheng-ping(School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)
出处
《装备制造技术》
2021年第2期40-47,共8页
Equipment Manufacturing Technology
关键词
微型高速自主水下运载器(AUV)
螺旋桨转矩
横摇镇定
滑模控制
micro high-speed autonomous underwater vehicle(AUV)
propeller torque
roll stabilization
sliding mode control
作者简介
施涤凡(1996-),男,江苏苏州人,硕士研究生,研究方向:水下运载器动力学建模与控制。;通信作者:冯正平(1996-),男,副教授,研究方向:无人自治潜航器、多水下机器人协同、水下无人系统控制与导航。
