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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
Source Publication海洋技术学报
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


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.

Document Type期刊论文
Corresponding Author俞建成
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.
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