AUV均衡系统设计及垂直面运动控制研究

针对AUV传统均衡调节系统存在难以克服的缺陷而无法实用的问题,设计了一种新型液压均衡系统。该系统主要由油箱和安装在AUV轴线上的两个油囊组成,通过调节油箱和油囊的油量来调节AUV的姿态和浮态。同时在简化AUV垂直面运动模型的基础上,构建了深度控制、纵倾控制和浮态控制模型,并基于PID和均衡系统设计了深度控制、纵倾控制和浮态控制方法。仿真结果表明在无干扰和有干扰两种情况下,设计的均衡系统能有效控制AUV的垂直面运动;建立的AUV垂直面运动控制模型符合AUV运行特性;PID控制算法适合海流干扰下的AUV均衡控制,且具有良好的控制品质。

Design of Balance System for AUV and Study on Motion Control in Vertical Plane

To overcome the deficiency of traditional balance regulation system of AUV,that is,to be used difficultly in practice,a new type of hydraulic balance system was designed.The system is mainly composed of oil tank and two accumulators which are fixed on the axis.Through adjusting the oil amount in the oil tank and accumulator,the attitude and floating state can be regulated.And at the same time,on the basis of simplifying the AUV’s motion model in vertical plane,three control models are conducted,which are depth control,pitch control and floating state control.Based on PID algorithm and balance system,the methods of depth control,pitch control and floating control are designed.The simulation results show that whether with or without disturbance,the designed balance system can control the AUV’s motion in vertical plane effectively;the created model is in compliance with the AUV’s characteristics;PID control algorithm is appropriate for AUV’s balance control under current disturbance and has good control quality.