智能水下机器人的建模和控制策略研究(英文) |
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摘 要: |
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AUV modeling and motion control strategy design |
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Authors: | Fang Wang Lei Wan Yu-min Su Yu-ru Xu |
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Institution: | 1.Key Lab of Autonomous Underwater Vehicles,Harbin Engineering University,Harbin,China |
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Abstract: | 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. |
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Keywords: | |
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