深水欠驱动自主水下航行器分布式控制方法
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摘要
针对传统CAN总线控制方法在欠驱动状态下,出现的控制指令响应速度慢、欠驱动状态下控制指令下达滞后等问题。提出深水欠驱动自主水下航行器分布式控制方法,在传统CAN总线控制方法的基础上建立欠驱动信号指令识别单元与分布式控制指令识别传输单元,实现分布式控制的效果。通过对比实验证明:提出的深水欠驱动自主水下航行器分布式控制方法,能够准确识别航行器的欠驱动状态,并通过分布式控制指令传输方式,完成对欠驱动状态下航行器的稳定、准确控制。
The deep autonomous underwater vehicle control is the deep autonomous navigation control, an important problem in the study of the study on traditional CAN bus control method in the condition of the underactuated control instruction of slow response speed, the underactuated state control instructions are lagging, affect aircraft power output of the problem to solve. Based on the distributed control method of deep-water underactuated autonomous underwater vehicle(auv), the problems existing in the traditional CAN bus control method of auv are solved one by one by using the command recognition unit of under-actuated signal and the transmission unit of distributed control command recognition in the method.Through comparative experiments, it is proved that the distributed control method of the deep-water underactuated autonomous underwater vehicle can accurately identify the underactuated state of the vehicle, and complete the stability and accurate control of the vehicle under the underactuated state through the distributed control command transmission mode.
The deep autonomous underwater vehicle control is the deep autonomous navigation control, an important problem in the study of the study on traditional CAN bus control method in the condition of the underactuated control instruction of slow response speed, the underactuated state control instructions are lagging, affect aircraft power output of the problem to solve. Based on the distributed control method of deep-water underactuated autonomous underwater vehicle(auv), the problems existing in the traditional CAN bus control method of auv are solved one by one by using the command recognition unit of under-actuated signal and the transmission unit of distributed control command recognition in the method.Through comparative experiments, it is proved that the distributed control method of the deep-water underactuated autonomous underwater vehicle can accurately identify the underactuated state of the vehicle, and complete the stability and accurate control of the vehicle under the underactuated state through the distributed control command transmission mode.
引文
[1]杨清,宿浩,唐功友.受扰欠驱动自主水下航行器的最优扰动抑制控制[J].中国海洋大学学报(自然科学版), 2017(6):139–145.
[2]江梦洁,李家旺,吕艳芳,等.饱和输入限制下欠驱动自主水下航行器水平面航迹跟踪控制[J].兵工学报, 2017, 38(11):2207–2213.
[3]李广文,蒋正雄,贾秋玲.分布式多无人机编队控制系统仿真[J].计算机仿真, 2010, 27(02):101–103+117.
[4]顾俊卿,张福斌.基于总线的分布式水下航行器控制器设计[J].电子设计工程, 2013, 21(09):49–51+54.
[2]江梦洁,李家旺,吕艳芳,等.饱和输入限制下欠驱动自主水下航行器水平面航迹跟踪控制[J].兵工学报, 2017, 38(11):2207–2213.
[3]李广文,蒋正雄,贾秋玲.分布式多无人机编队控制系统仿真[J].计算机仿真, 2010, 27(02):101–103+117.
[4]顾俊卿,张福斌.基于总线的分布式水下航行器控制器设计[J].电子设计工程, 2013, 21(09):49–51+54.