SIA OpenIR  > 水下机器人研究室
Alternative TitleResearch on Motion Control of Portable AUV for Thermocline Tracking
Thesis Advisor李一平
Keyword水下自主机器人 温跃层探测 自适应阈值 H∞状态反馈 滑模控制
Call NumberTP242/S97/2016
Degree Discipline控制工程
Degree Name硕士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractThe paper presents a method to determine the thermocline based on adaptive threshold. At the same time the method of reasoning about reasonable value for the water layer thickness z is proposed based on the number of peak points. It can be implemented for AUV to independently detect the thermocline. In the process of thermocline detection small AUV control problem was discussed, so the buoyancy of AUV the varies greatly. This leads to AUV in the movement process will be the phenomenon of shock. The heading controller and the submerged depth controller are designed, and the nonlinear system is designed for the AUV to solve the shock problem, which is under actuated and strongly coupled. Due to the influence of the carrier's own characteristics and the influence of the marine environment, Some state of the carrier can’t be measured or have noise. Based on robust H-infinity state feedback design of AUV heading control, not only underwater robot heading control part of the system state can’t be measured problem has been resolved, but also the design of the controller is asymptotically stable and can satisfy the performance index of the system. In this paper, based on the SMC method, the AUV pitch regulator is designed in this paper, which considers the positive buoyancy of the carrier. Then the depth controller is designed based on the feed forward ratio control theory. The thermocline is proposed in this paper is verified through the analysis of the detection strategy AUV field data simulation, which is proposed in this paper is verified through the analysis of the detection strategy AUV field data simulation. The results show that the thermocline detection method is simple and effective, the thermocline range is more accurate based on adaptive threshold. Results show that the controller can effectively weaken the AUV in thermocline boundary motion in the process of shock based on the analysis of the motion controller simulation. The control system stability, fast response speed in this way. And design of AUV horizontal plane motion controller can deal with the issue of system some state cannot be measured, compared to vertical motion controller and PID controller has high control precision. Finally, based on MOOS platform the thermocline detection of the sensor driver, detection strategy and motion control programs are written. The thermocline detection rationality and reliability of the system is verified based on simulation platform.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
孙龙飞. 面向温跃层探测的小型AUV运动控制研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2016.
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面向温跃层探测的小型AUV运动控制研究.(5126KB)学位论文 开放获取CC BY-NC-SAApplication Full Text
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