水下潜器运动控制与仿真研究

水下潜器是一种非常重要的海洋开发装置,具有强耦合、非线性等特点。主要讨论水下无人潜器的自主定深和定位控制技术。文中根据潜器的6自由度运动方程,在充分考虑了水动力因素的基础上,使用Quasi-Lagrange方程建立潜器的数学模型,并将其分解为一系列相互关联的子系统。采用滑模控制方法用于潜器的定深控制,并对其他方向运动进行定位控制。滑模因控制算法简单、鲁棒性好、可靠性高,并且不需要系统整体模型,被广泛应用于运动控制和非线性系统的控制中。通过计算机仿真,验证了该控制算法对水下潜器的运动控制效果良好、准确。

Motion control and simulation for underwater vehicle

Underwater Vehicle(UV)is a kind of important equipment for the development of the sea. The character of the UV is coupled,nonlinear and so on. In this paper,the depth control and positioning control are presented for UV. Based on the kinematical equations of UV,the Quasi-Lagrange formulation is used to gain the model of UV,considering major hydrodynamic effects. A sliding mode controller is designed to implement the depth control and positioning control. The advantage of this controller was that it didn't require a model of the whole UV. Finally,computer simulations were performed to verify the efficacy of the motion control scheme and the conclusion were presented in the end of this paper.