SIA OpenIR  > 水下机器人研究室
Alternative TitleResearch on Motion Control of Autonomous Underwater Vehicle Docking
Thesis Advisor李一平
KeywordAuv 水下对接 路径规划 路径跟踪
Call NumberTP242/Z47/2017
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

随着人类对海洋资源的进一步开发和利用,自主式水下机器人(Autonomous Underwater Vehicle)被广泛应用在环境监测、海洋科考以及军事领域。但由于AUV是自身携带能源,其容量有限,这就限制了其连续作业时长。当机器人电量不足或者此次航行任务结束的时候,必须回收AUV。这种传统做法不仅耗时费力,而且效率低下,无法满足客户对AUV提出的可连续工作、大范围航行的要求,针对这一问题,各国科研工作者开始致力于于水下自主对接这一技术的研究。 本文主要是针对欠驱动AUV的水下自主对接过程开展相关研究工作。研究对象是中国科学院沈阳自动化研究所自主研发的50公斤级便携式自主观测系统,它是一款流线型、欠驱动的小型自主水下机器人。首先针对欠驱动水下机器人的控制特性和非完整约束条件进行分析,基于这样的特点,以最短路径为目标函数,结合三次B样条曲线的曲率连续特性,以及遗传算法对庞大的搜索空间寻求最优解的能力,规划出符合载体运动学约束条件的期望三维空间路径。其次,详细推导如何将非线性系统通过反馈变换转换成链式模型,使用近似线性化的全状态反馈进行链式路径跟踪控制器的设计。最后,利用设计好的控制律去引导AUV跟踪规划好的三维航迹,在Matlab仿真环境下检验载体是否能按照预期的那样,从对接起始点航行到对接终止点,为后续的物理对接完成铺垫工作。从仿真结果来看,预定的路径和所设计的控制器可以实现路径跟踪误差的全局渐近稳定,验证了其有效性和合理性。

Other Abstract

With the further development and utilization of marine resources, autonomous underwater vehicles are widely used in environmental monitoring, marine science and military fields. However, since AUV is carrying energy with itself, such as a battery or secondary battery whose capacity is limited, which greatly limits its continuous operation time and range. When its power is low or the mission is completed, AUV must be recycled. This traditional method is not only time-consuming and inefficient, which can not meet the requirements that customer proposed for the AUV, including continuous working hours, and large-scale navigation functions. In order to solve this problem, scientists and researchers begin to devote to the study on the underwater docking technique. This paper exactly carries out relative research work on the motion process of underactuated AUV in the docking. The research object is a fifty kilograms portable autonomous observing system developed by Shenyang Institute of Automation, Chinese Academy of Sciences, which is a streamlined, torpedo-like, underactuated small autonomous underwater vehicle. Firstly, the control characteristics and nonholonomic constraints of the vehicle are analyzed. Secondly, shortest path is taken as the objective function based on these characteristics, combining with the curvature continuity characteristic of the cubic B-spline curve and ability of genetic algorithm to search for the optimal solution in huge search space to design an expected three-dimensional space path, which matches kinetic constraints of the vehicle. Thirdly, that how to transform the nonlinear system into a chain model by feedback transformation is derived in detail, and then the approximate linearized state feedback is used to design the chain path following controller. Finally, the designed control law is used to guide the AUV tracking previously planning three-dimensional track. A series of experiments in the Matlab simulation environment are done to test whether the vehicle can move from the docking start point to the target point as expected to make foundations for the following physical docking process. In terms of the simulation results, the predetermined path and the designed controller can realize the global asymptotic stability of the path following error which verifies its validity and rationality.

Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
赵熊. AUV水下对接运动控制研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2017.
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