SIA OpenIR  > 水下机器人研究室
Alternative TitleResearch on Portable Autonomous Underwater Vehicle and Model Predictive Control
Thesis Advisor王晓辉
Keyword便携式AUV 动力学建模 预测控制 模型差估计 滑模预测控制
Call NumberTP242/Z22/2018
Degree Discipline模式识别与智能系统
Degree Name博士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractThis paper takes the portable AUV newly developed by Shenyang Institute of Automation, Chinese Academy of Sciences as the research object, and based on the model predictive control theory, focuses on some issues meeted in its motion control. Aimed at the mathematic model of portable AUV which is used in the model predictive control algorithm, this paper derives the hydrodynamic model of the potable AUV by using the method of mechanism modeling, and obtains the structure and parameters of model by using the computational fluid dynamics (CFD) and the nonlinear optimization method instead of the pool experiment. Finally, the simulation data and experimental data are compared to prove the effectiveness of the model and method. Aiming at the hysteresis in control of portable AUV, the traditional predictive control method is introduced and improved, which make the delay of control system of portable AUV be compensated effectively. Aiming at the model mismatch issue of AUV when the speed changes, this paper designs a control compensation strategy by estimating the model deviation, which ensures that the controller designed based on reference model at a certain speed has good robustness and tracking performance when the speed changes. Finally, from the viewpoint of nonlinear control, a sliding mode predictive controller is designed. In the sliding mode predictive control, feedback correction and rolling optimization in predictive control are used to modify the output of the sliding mode controller, so as to overcome the chattering phenomenon of sliding mode control. In simulation, the sliding mode predictive controller is applied to the motion control of portable AUV. The thesis is funded by national 863 programs “Research and development of portable autonomous observation system”. Through the theory research, the engineering design is guided, the prototype of portable AUV is successfully developed. The control algorithm studied in this paper will play a great role in the research and application of portable AUV in the future.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
曾俊宝. 便携式自主水下机器人及其模型预测控制方法研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2018.
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便携式自主水下机器人及其模型预测控制方法(1645KB)学位论文 开放获取CC BY-NC-SAApplication Full Text
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