水下潜器改进S面控制及控制系统仿真(英文)

S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV). However, it is difficult to adjust their control parameters manually. Choosing the optimum parameters for the controller of a particular AUV is a significant challenge. To automate the process, a modified particle swarm optimization (MPSO) algorithm was proposed. It was based on immune theory, and used a nonlinear regression strategy for inertia weight to optimize AUV control parameters. A semi-physical simulation system for the AUV was developed as a platform to verify the proposed control method, and its structure was considered. The simulation results indicated that the semi-physical simulation platform was helpful, the optimization algorithm has good local and global searching abilities, and the method can be reliably used for an AUV.     

欠驱动自主水下航行器的镇定及跟踪

针对仅带有轴向推力及偏航力矩的欠驱动自主水下航行器（AUV）,研究了其在水平面内的轨迹跟踪及定点调节问题。基于Lyapunov直接法及串接一反步技术,通过采用一种带有动力学震荡器的跟踪误差变换,设计了一种统一的连续时变状态反馈控制律,并给出了参数自适应更新律以估计AUV的非线性阻力参数,使得AUV的位置及方向角的跟踪误差全局渐近收敛于零点左右的一个邻域内,该区域可以为任意小,并且,AUV的跟踪性能与外界干扰的大小无关。仿真结果证明所提出的方法是有效的。     

机载布放式AUV入水冲击仿真研究

机载布放式AUV是利用载机运送至特定海域上空,在一定条件下通过空投方式进入水下,完成预定工作的自主水下航行器。AUV入水时会受到巨大的载荷冲击,严重时会导致机体折断、元器件失灵,甚至引起弹道失控。为此,文章采用计算流体力学(Computational Fluid Dynamics,CFD)方法对机载布放式AUV的入水冲击问题进行了数值仿真研究。对不同入水速度、不同入水角度下AUV受力过程进行了计算,得出了不同入水条件下的速度响应曲线和压力响应曲线,可为机载布放式AUV的机体结构设计和投放条件研究提供参考。     

某型AUV运载器的定位方法与误差分析

传统AUV依靠水下惯性导航设备自主定位的方法无法实时进行水下信息感知和系统控制。水声定位是AUV定位导航技术的一个研究领域,可用于水下运动目标定位与导航、水下静止目标勘测等。本文分析阐述三种经典AUV定位方法,进一步研究AUV快速定位解算原理,论证影响AUV运载器在深海工作时产生的定位误差来源并进行仿真试验分析,最终将研究成果应用在目前现有某型AUV运载器上,实现自身水下定位、导航与远程遥控。     

H∞ Robust Fault-Tolerant Controller Design for an Autonomous Underwater Vehicle＇s Navigation Control System

In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H_∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H_∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H_∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H_∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.     

微小型潜器空间运动建模与仿真(英文)

对自主式潜器空间运动进行精确建模和仿真对研究其操纵和控制特性有重要意义,本文以开发的"MAUV-Ⅱ"微小型潜器为对象,基于动量定理和动量矩定理建立了潜器空间运动的非线性数学模型,将潜器受力分解为各个模块并表达为矩阵形式.在运动非线性数学模型的基础上,结合虚拟现实技术建立了运动仿真系统,针对所研究潜器的特点,采用S面控制方法对此"MAUV-Ⅱ"水下运动的艏向控制和深度控制进行了仿真研究,同时进行了基于目标规划的长距离航行仿真试验.仿真结果反映了潜器具有较好的空间操纵性能,也验证了控制软件的可行性和可靠性.     

矢量推进方式下的自主式水下航行器纵向运动操纵性分析

提出一种针对无人自主式水下航行器的新型操纵方式--矢量推进方式;建立矢量推进方式下无人自主式水下航行器纵向运动方程.对矢量推进方式和普通推进方式下的水下航行器的操纵性进行对比性的操纵性仿真计算,计算结果表明,矢量推进方式可以满足水下航行器的操纵性要求.     

AUV navigation around jacket structures II: map based path-planning and guidance

This paper proposes a path-planning and guidance strategy for an autonomous underwater vehicle (AUV) to perform detailed inspections of jacket structures such as the support legs of offshore platforms. Inspections of such structures are important for maintenance, security, and environmental assessment. These tasks can be carried out at a less cost by using AUVs than through conventional methods. The path-planning method generates a set of waypoints to facilitate the complete coverage of the surface of the target from a constant distance based on the given information about the configurations of both the target and the vehicle. The guidance method actually controls the vehicle such that it follows the waypoints, under the assumption that the position and attitude of the vehicle are being estimated in real time with adequate accuracy. By combining these methods with the localization method we had previously proposed (Maki et al., J Mar Sci Technol [1]) an AUV can perform a fully autonomous observation of jacket structures with prior knowledge of only their configuration. The performance of the method was verified though tank experiments using the AUV Tri-Dog 1. A simple model of a jacket was installed in a test tank, and the vehicle succeeded in inspecting the target.     

基于重叠网格的重水潜器粘流数值模拟

文章结合一种密度大于水的新型潜器—重水潜器（Heavier-than-water AUV,简称 HTW）,采用 RANS 方法和重叠网格计算了该潜器的水动力性能和绕流流场。文中计算了不同攻角和漂角情况下重水潜器的阻力、升力及俯仰力矩,对其周围流场水动力学性能进行了分析,并通过流场的流动结构研究了受力随姿态变化的规律。文中将采用重叠网格方法的计算结果与 FLUENT 计算值以及风洞试验结果进行了比较,表明重叠网格方法可较好地模拟重水潜器的自由态绕流问题。该研究为该潜器的总体设计与运动控制提供了有价值的参考。     

AUV自主收放装置结构及控制系统设计

AUV技术对于提高海洋资源环境的勘测和开采效率具有重要意义。在AUV收放过程中,传统的回收方式是在母船上起吊回收,人为参与完成挂钩任务,这种方式受风浪的影响较大。为了提高AUV的使用保障能力,需要针对AUV的自主收放技术展开研究。基于AUV良好的实时性、连续性及可移动性的特点,本文设计一套AUV自主收放装置,可用于AUV的自动布放及回收。该装置由固定架、控制台、吊机装置、绞车、定滑轮、钢丝绳、收放架等组成。设计各部分的机械结构,并通过系统校核验证结构设计的合理性。同时,设计AUV收放存储装置控制系统,实现对机械液压执行器的精密控制、传感器的数据采集、系统状态参数显示、试验参数调整、工作状态监控和安全报警等功能,能够对控制系统的控制流程进行辅助判断和安全保障。解决了传统AUV收放技术的难题,提高了AUV收放的智能化水平。     

近壁面水动力干扰下的AUV运动控制研究

按自治式水下机器人(AUV)需要接近水下工作站并实现坐落的要求,依据平壁面对AUV水动力干扰的力学机理,建立了AUV在平壁面附近运动时的数学模型,并设计了五个自由度运动PID控制器.在海流影响下,通过系统仿真,实现了AUV的五自由度运动控制和准确坐落,仿真结果验证了控制策略的可行性.     

Design and evaluation of a hierarchical control architecture for an autonomous underwater vehicle

This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.     

Selection Method of Multi-Objective Problems Using Genetic Algorithm in Motion Plan of AUV

To research the effect of the selection method of multi-objects genetic algorithm problem on optimizing result, thismethod is analyzed theoretically and discussed by using an autonomous underwater vehicle(AUV) as an object. A changingweight vtlue method is put forward and a selection formula is modified. Some experiments were implemented on an AUV.TwinBurger. The results shows that this method is effective and feasible.     

带吊舱水下机器人运动建模与仿真(英文)

To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle’s (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV’s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.     

Coordinate control of initiative mating device for autonomous underwater vehicle based on TDES

A novel initiative mating device, which has four 2-degree manipulators around the mating skirt, is proposed to mate between a skirt of AUV （autonomons underwater vehicle） and a disabled submarine. The primary function of the device is to keep exact mating between skirt and disabled submarine in a badly sub sea environment. According to the characteristic of rescue, an automaton model is brought forward to describe the mating proceed between AUV and manipulators. The coordinated control is implemented by the TDES （time discrete event system）. After taking into account the time problem, it is a useful method to control mating by sinmlation testing. The result shows that it reduces about 70 seconds after using intelligent co-ordinate control based on TDES through the whole mating procedure.     

智能水下机器人的建模和控制策略研究(英文)

To provide a suitable model for AUV simulation and control purposes, a general nonlinear dynamic model including a novel thruster hydrodynamics model was derived. Based on the modeling method, the “AUV-XX” simulation platform was established to carry out fundamental tests on its motion characteristics, stability, and controllability. A motion control strategy consisting of both position and speed control in a horizontal plane was designed for different task assignments of underwater vehicles. Combined control of heave and pitch was adopted to compensate for the reduction of vertical tunnel thrusters when the vehicle is moving at a high speed. An improved S-surface controller based on the capacitor plate model was developed with flexible gain selections made possible by different forms of restricting the error and changing the rate of the error. Simulation results show that the derived general mathematical model together with simulation platform can provide a test bed for fundamental tests of motion control. Additionally, the capacitor plate model S-surface control shows a good performance in guiding the vehicle to achieve the desired position and speed with sufficient accuracy.     

AUV hull shape design based on desired pressure distribution

The role of autonomous underwater vehicles (AUVs) is more important in the quest to reach the deep seas today than ever before. The hull shape of the AUV can differ depending on the special mission considered for the vehicle. Therefore, different types of algorithms for the body shape design of these kinds of vehicles are being developed every day. In the current work, a new procedure has been proposed for designing the body shape of an AUV. Using this method which is based on a desired pressure distribution, it is possible to obtain the desired hull shape design. Artificial neural network algorithm has been used for this purpose. Preliminary data for training and testing of the network have been obtained from CFD simulation of the flow around the body of Hydrolab500 AUV. In this regard, pressure distribution has been evaluated around each body by changing the nose and tail profile of AUV. The results obtained from this research indicate that a body correlated to the desired pressure can be designed properly.     

水下航行器多普勒导航系统误差辨识与修正

水下航行器(Autonomous Underwater Vehicles,AUV)在水下往往采用航位推算定位方式.由于存在传感器误差,航位推算的定位误差是随着时间发散的,而直接准确检测这类误差非常困难.对多普勒导航系统进行导航误差分析,简化航位推算算法,在此基础上推导出一种新的辨识AUV导航误差参数的方法.仿真结果表明,该算法能够准确辨识AUV导航误差参数向量,可以有效提高AUV自主导航精度,且方法合理、简单.     

Simulation analysis of static and dynamic characteristics of once-through steam generator in concentric annuli tube

1 Introduction1 Steam generator is an important equipment of an integrated pressurized water reactor. In recent design, the once-through steam generator (OTSG) is mostly applied because it delivers superheated steam and requires no separators. Moreover, i…     

3D Track-keeping Method for Autonomous Underwater Vehicle

In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically.