带缆水下机器人控制仿真模拟与水动力分析

本文以Fluent多重滑移网格技术对带缆水下机器人系统进行路径跟踪的仿真计算,将收放缆反馈控制与PID算法调节螺旋桨转速的双重控制策略应用于带缆水下机器人系统,并对带缆水下机器人系统升沉运动的控制误差、螺旋桨推力与转速之间的关系、缆绳系统的张力特性以及水下机器人的水动力响应做了分析。文中数值模拟结果表明,双重控制策略下,带缆水下机器人路径跟踪的控制运动较为精确,其升沉运动位移最大误差约为0.2 m;螺旋桨的转速与推力呈正相关性,转速越大,推力也越大;水下机器人沿预定轨迹运动过程中,缆绳系统张力呈现周期性震荡的变化规律,机器人主体受到的水动力荷载与多种因素相关。

Control simulation and hydrodynamics analysis of a tethered underwater robot

In this paper,multiple sliding mesh technique is applied on path following simulation of a tethered underwater robot system.Feedback control for adjusting length of the cable and PID algorithm for controlling the rotating speed of propellers are adopted in the tethered underwater robot system.After numerical simula?tion,the error about vertical movement,the relationship between rotating speed and the thrust of propeller,the characteristics of cable tension and the hydrodynamic loadings on the tethered underwater robot are ana?lyzed.Results show that the control precision of the path following simulation is satisfactory under the two control strategies.The max error about vertical movement is 0.2 m,thrusts increase with the rotating speed in?crease of the propellers.Tension of the cable system presents a periodic oscillation through the movement of the robot and the hydrodynamic loadings acting on the underwater robot main body are affected by many fac?tors.