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Alternative TitleStable Control for AUV's Near-bottom and Low-speed Sailing Based on Vertical Thruster
郑荣; 马艳彤; 张斌; 韩晓军; 安家玉
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20164603015736
Contribution Rank1
Funding Organization国家863计划(2015AA2162)
Keyword自治水下机器人 垂向槽道推进器 近底定高航行 Pid控制算法
Other AbstractFor the problem of insufficient flap rudder force of autonomous underwater vehicle (AUV) when navigating at low speed, a low-speed near-bottom stable control navigation scheme based on vertical thruster is presented. Based on the navigating speed, the thrust characteristics of the flap rudder and vector propeller are analyzed comparatively. Then the layout scheme of vertical thruster units in fore and aft grooves is designed. And AUV vertical motion control can be achieved by tuning PID (proportional-integral-derivative) parameters and optimizing control strategy. Finally, a large number of lake trials show that the vertical thruster can achieve better near-bottom fixed-depth sailing controllability at low speed compared with flap rudder thruster, and the vehicle can realize stable navigation with mean square errors of height within 0.1m and pitch within 0.5°.
Citation statistics
Cited Times:3[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author马艳彤
Recommended Citation
GB/T 7714
郑荣,马艳彤,张斌,等. 基于垂向推进方式的AUV低速近底稳定航行[J]. 机器人,2016,38(5):588-592.
APA 郑荣,马艳彤,张斌,韩晓军,&安家玉.(2016).基于垂向推进方式的AUV低速近底稳定航行.机器人,38(5),588-592.
MLA 郑荣,et al."基于垂向推进方式的AUV低速近底稳定航行".机器人 38.5(2016):588-592.
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