SIA OpenIR  > 海洋机器人前沿技术中心
基于模型预测控制算法的轻型长航程AUV航控系统研究
Alternative TitleResearch on the Flight Control System of Lightweight Long-Range AUVs Based on Model Predictive Control
黄琰1,2,3; 胡峰1,2; 俞建成1,2; 乔佳楠1,2; 王振宇1,2; 谢宗伯1,2
Department海洋机器人前沿技术中心
Source Publication海洋技术学报
ISSN1003-2029
2020
Volume39Issue:2Pages:32-38
Contribution Rank1
Funding Organization国家重点研发计划资助项目(2017YFC0305801) ; 中国科学院战略先导专项资助项目(XDA13030202) ; 机器人学国家重点实验室资助项目(2015-Z09)
Keyword轻型长航程AUV 浮力可变重心可调系统 模型预测控制
Abstract

针对海洋时变中小尺度过程长期精细观测需求,研制了一种轻型长航程AUV。这种AUV的最大特征是借鉴了水下滑翔机的变浮力、重心可调执行机构,使得其具备海洋环境自适应能力,可在不同海水密度条件下实现零攻角高效航行。首先介绍了轻型长航程AUV的系统组成,讨论了这种可变浮力、可调重心AUV的航行控制系统设计;针对这种AUV新增的浮力和重心两个控制输入量间存在系统耦合的问题,开展了基于模型预测算法的零攻角定深航行控制器研究,着重阐述和推导了控制目标的修正、面向控制的动力学建模以及模型预测控制器的设计过程;最后通过仿真验证了所述方案和方法的可行性。该研究有利于提高轻型长航程AUV的航行效率,进一步提升AUV的续航能力。

Other Abstract

A lightweight long -range AUV is developed to meet the requirements of long -term intensive observation in the small and medium-scale ocean time-varying processes. The system with variable buoyancy and adjustable center of gravity, inspired by the design of underwater gliders, is the most inprotant feature of this AUV, and makes this type of AUV have the ability to adapt to the marine environment, and achieve efficient cruise at zero-angle-of-attack state under different seawater density conditions. Firstly, the system structure of the lightweight long-range AUV is introduced, and then the design of AUV's flight control system is discussed. Aiming to solve the problem of systematic coupling between the two newly added control inputs of buoyancy and center of gravity of this AUV, research on a zero-angle -of -attack fixed -depth flight controller is carried out based on a model prediction algorithm. The modification of control objective, control-oriented dynamics modeling and the design of model predictive controller are derived and explained. Finally, the feasibility of the presented control system solution and method is verified by simulation. The research is beneficial for improving the efficiency of the light long-range AUVs' cruise as well as the endurance of the AUV.

Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26929
Collection海洋机器人前沿技术中心
Corresponding Author俞建成
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院机器人与智能制造创新研究院
3.中国科学院大学
Recommended Citation
GB/T 7714
黄琰,胡峰,俞建成,等. 基于模型预测控制算法的轻型长航程AUV航控系统研究[J]. 海洋技术学报,2020,39(2):32-38.
APA 黄琰,胡峰,俞建成,乔佳楠,王振宇,&谢宗伯.(2020).基于模型预测控制算法的轻型长航程AUV航控系统研究.海洋技术学报,39(2),32-38.
MLA 黄琰,et al."基于模型预测控制算法的轻型长航程AUV航控系统研究".海洋技术学报 39.2(2020):32-38.
Files in This Item:
File Name/Size DocType Version Access License
基于模型预测控制算法的轻型长航程AUV航(2044KB)期刊论文出版稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[黄琰]'s Articles
[胡峰]'s Articles
[俞建成]'s Articles
Baidu academic
Similar articles in Baidu academic
[黄琰]'s Articles
[胡峰]'s Articles
[俞建成]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[黄琰]'s Articles
[胡峰]'s Articles
[俞建成]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于模型预测控制算法的轻型长航程AUV航控系统研究.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.