着陆式AUV动力学行为与控制策略研究
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摘要
AUV是进行海洋环境和资源调查的强有力工具，具有广阔的应用前景。然而有限的能源使得AUV无法长时间工作，为了在能源一定的情况下延长AUV的监测时间，本文进行了着陆式AUV动力学行为与控制策略研究。在着陆式AUV设计基础上，建立了着陆式AUV的动力学模型，分析了运动参数对系统稳定性和机动性的影响，设计了运动控制器并对着陆策略进行了研究，通过大量的水域试验验证了本文理论研究与分析的正确性。该AUV通过注水改变负浮力降落到海底，以实现只保持耗能少的监测传感器工作来延长工作时间的目的。
根据着陆式AUV的功能和设计目标，采用机械结构模块化和控制架构分布式的设计理念，设计了着陆式AUV的样机，实现了在设计速度和深度下的航行、测量、通信及着陆功能。
采用牛顿-欧拉方法建立了着陆式AUV的非线性动力学模型，通过CFD方法和流体动力参数试验获得了表征着陆式AUV特征的流体动力参数，并进行了仿真分析，为运动控制提供了依据。
根据所建立的动力学模型，对着陆式AUV水平面和垂直面内的运动进行了稳定性和机动性分析。在AUV总体外形确定的情况下，建立了基于重心坐标、舵力系数及航速等变量的稳定性曲面函数，以判定上述参数对着陆式AUV系统稳定性的影响；重点分析了舵对AUV运动稳定性的作用，进而用稳定性分析结果指导AUV舵的设计；考虑了航行中AUV运动参数如速度等对稳定性的影响，得出提高速度有利于增强稳定性的结论。
研究了着陆式AUV的运动控制系统，设计了航速、航向及深度控制器。针对PID控制器在水域试验中的局限性，设计了模糊神经网络PID控制器。研究了下潜到近海底注水着陆策略，即将着陆过程分为下潜、拉平、定高直航搜索着陆点和自由下沉四个阶段，进而设计出着陆轨迹。采用视线跟踪与轨迹误差法跟踪上述着陆轨迹，以确保航行过程的稳定性，避免AUV意外触底；同时考虑了海底地形的影响，以确保安全着陆。
Autonomous underwater vehicle (AUV) is widely used as an effective platformin the oceanic research and exploration. AUV has high flexibility and can work inareas that are hazardous to humans or where humans cannot go, such as natural orman-made disastrous regions, deep ocean, and under ice. AUV needs a significantamount of onboard power to complete missions. However, energy storage is limitedin AUV. A Landing AUV was developed to prolong the monitoring time, also itsdynamic behavior and control strategy is studied. To obtain this behavior, the vehicleis required to have the capability of self ballast. When sitting on the seafloor, theAUV can enter into a sleep mode to conserve power, while the monitoring sensors areawake and working. In this dissertation, a dynamic model is developed to analyze theeffects of kinematical parameters on stability and maneuverability of the landing AUV.A landing strategy for the vehicle has been proposed and a fuzzy neural networkalgorithm has been applied in motion controller design. A series of sea trials have alsoconducted to verify the theoretical analysis. Comparison shows that the simulationresults are in a good agreement with experimental results.
The prototype of the landing AUV has been designed based on concept ofmodular mechanical structure and distributed control architecture. The prototype canachieve long-range navigation, underwater landing, bottom-sitting and rising.
A nonlinear dynamic model of the landing AUV has been formulated usingNewton-Euler Equations and hydrodynamic parameters have been obtained usingcomputational fluid dynamics method and physical experiments. Simulation of thebasic motions, such as rectilinear motion, rotary motion, and helix motion, has alsobeen studied. The simulation results provide fundamental support for motion control.
The stability and maneuverability of the landing AUV in the horizontal planeand the vertical plane have been analyzed based on the dynamic model derived above.The stability curved surface which is a function of the fin coefficient, the coordinatesof the center of gravity, and the velocity of AUV. It is established to evaluate the stability of Landing AUV when its overall shape is determined. The important role offins in AUV motion stability is analyzed and the result is used to guide the design offins. The stability analysis also indicates that stability of the landing AUV increaseswith its velocity. Raising the center of gravity can also enhance the stability.
The motion control system of the landing AUV has been studied using a fuzzyneural network algorithm. Controllers, including speed controller, orientationcontroller, and depth controller, have been respectively designed. Considering thelimitations of PID controllers, the fuzzy neural network PID controller is proposed. Alanding strategy has been studied regarding the topography of the seafloor. Landingof the AUV is divided into four stages according to the presented strategy. Thelanding trajectory has been designed by lines of sight and cross track error trackingmethod to ensure the navigation stability and safety.
根据着陆式AUV的功能和设计目标，采用机械结构模块化和控制架构分布式的设计理念，设计了着陆式AUV的样机，实现了在设计速度和深度下的航行、测量、通信及着陆功能。
采用牛顿-欧拉方法建立了着陆式AUV的非线性动力学模型，通过CFD方法和流体动力参数试验获得了表征着陆式AUV特征的流体动力参数，并进行了仿真分析，为运动控制提供了依据。
根据所建立的动力学模型，对着陆式AUV水平面和垂直面内的运动进行了稳定性和机动性分析。在AUV总体外形确定的情况下，建立了基于重心坐标、舵力系数及航速等变量的稳定性曲面函数，以判定上述参数对着陆式AUV系统稳定性的影响；重点分析了舵对AUV运动稳定性的作用，进而用稳定性分析结果指导AUV舵的设计；考虑了航行中AUV运动参数如速度等对稳定性的影响，得出提高速度有利于增强稳定性的结论。
研究了着陆式AUV的运动控制系统，设计了航速、航向及深度控制器。针对PID控制器在水域试验中的局限性，设计了模糊神经网络PID控制器。研究了下潜到近海底注水着陆策略，即将着陆过程分为下潜、拉平、定高直航搜索着陆点和自由下沉四个阶段，进而设计出着陆轨迹。采用视线跟踪与轨迹误差法跟踪上述着陆轨迹，以确保航行过程的稳定性，避免AUV意外触底；同时考虑了海底地形的影响，以确保安全着陆。
Autonomous underwater vehicle (AUV) is widely used as an effective platformin the oceanic research and exploration. AUV has high flexibility and can work inareas that are hazardous to humans or where humans cannot go, such as natural orman-made disastrous regions, deep ocean, and under ice. AUV needs a significantamount of onboard power to complete missions. However, energy storage is limitedin AUV. A Landing AUV was developed to prolong the monitoring time, also itsdynamic behavior and control strategy is studied. To obtain this behavior, the vehicleis required to have the capability of self ballast. When sitting on the seafloor, theAUV can enter into a sleep mode to conserve power, while the monitoring sensors areawake and working. In this dissertation, a dynamic model is developed to analyze theeffects of kinematical parameters on stability and maneuverability of the landing AUV.A landing strategy for the vehicle has been proposed and a fuzzy neural networkalgorithm has been applied in motion controller design. A series of sea trials have alsoconducted to verify the theoretical analysis. Comparison shows that the simulationresults are in a good agreement with experimental results.
The prototype of the landing AUV has been designed based on concept ofmodular mechanical structure and distributed control architecture. The prototype canachieve long-range navigation, underwater landing, bottom-sitting and rising.
A nonlinear dynamic model of the landing AUV has been formulated usingNewton-Euler Equations and hydrodynamic parameters have been obtained usingcomputational fluid dynamics method and physical experiments. Simulation of thebasic motions, such as rectilinear motion, rotary motion, and helix motion, has alsobeen studied. The simulation results provide fundamental support for motion control.
The stability and maneuverability of the landing AUV in the horizontal planeand the vertical plane have been analyzed based on the dynamic model derived above.The stability curved surface which is a function of the fin coefficient, the coordinatesof the center of gravity, and the velocity of AUV. It is established to evaluate the stability of Landing AUV when its overall shape is determined. The important role offins in AUV motion stability is analyzed and the result is used to guide the design offins. The stability analysis also indicates that stability of the landing AUV increaseswith its velocity. Raising the center of gravity can also enhance the stability.
The motion control system of the landing AUV has been studied using a fuzzyneural network algorithm. Controllers, including speed controller, orientationcontroller, and depth controller, have been respectively designed. Considering thelimitations of PID controllers, the fuzzy neural network PID controller is proposed. Alanding strategy has been studied regarding the topography of the seafloor. Landingof the AUV is divided into four stages according to the presented strategy. Thelanding trajectory has been designed by lines of sight and cross track error trackingmethod to ensure the navigation stability and safety.
引文
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