| 近壁面水动力干扰下的AUV运动控制研究 |
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| 引用本文： | 王智学,边信黔,王奎民,刘云霞.近壁面水动力干扰下的AUV运动控制研究[J].船舶工程,2006,28(5):63-66. |
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| 作者姓名： | 王智学 边信黔 王奎民 刘云霞 |
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| 作者单位： | 哈尔滨工程大学,动力与核能工程学院,哈尔滨,150001;哈尔滨工程大学,动力与核能工程学院,哈尔滨,150001;哈尔滨工程大学,动力与核能工程学院,哈尔滨,150001;哈尔滨工程大学,动力与核能工程学院,哈尔滨,150001 |
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| 摘 要： | 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.
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| 关 键 词： | 机器人 自治式水下机器人 建模 水动力干扰 PID控制 |
| 文章编号： | 1000-6982(2006)05-0063-04 |
| 收稿时间： | 2005-09-06 |
| 修稿时间： | 2005-10-17 |
Research on motion control of AUV with hydrodynamic interactions near plane wall |
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| WANG Zhi-xue,BIAN Xin-qian,WANG Kui-min,LIU Yun-xia.Research on motion control of AUV with hydrodynamic interactions near plane wall[J].Ship Engineering,2006,28(5):63-66. |
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| Authors: | WANG Zhi-xue BIAN Xin-qian WANG Kui-min LIU Yun-xia |
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| Institution: | College of Power and Nuclear Energy, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | According to the requirement that autonomous underwater vehicle (AUV) should approach and locate on the underwater workstation, the mathematical model of AUV moving near the plane wall is presented on the basis of the principle of hydrodynamic forces disturbed by plane wall, and PID controllers with five degrees of freedom are designed. Under the influence of ocean current, the motion control of AUV in five degrees of freedom as well as the accurate location on the workstation is accomplished by system simulations. The simulation results demonstrate the feasibility of the control strategy. |
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| Keywords: | robot autonomous underwater vehicle(AUV) modeling hydrodynamic interactions PID control |
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