基于多永磁同步电机协同推进的两栖无人艇跟踪控制研究

项目名称： 基于多永磁同步电机协同推进的两栖无人艇跟踪控制研究

项目编号： No.51479018

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 其他

项目作者： 刘彦呈

作者单位： 大连海事大学

项目金额： 84万元

中文摘要： 水面无人艇和水下航行器是两大智能海洋载运工具，然而现有理论结果仍集中于单一运动控制系统研究，而且推进器的复杂非线性动态并未考虑。本项目兼具水面和水下航行动态，采用多永磁同步电机协同推进方式，通过结合无人艇运动模型探讨和复杂执行器动态特性研究，提出新颖的两栖无人艇系统，为智能海洋航行器的航迹跟踪控制等研究提供新的系统化研究思路和方法。研究内容包括：建立两栖无人艇的统一运动模型；考虑未建模动态和未知外界干扰，研究两栖无人艇的鲁棒自适应运动控制方法；考虑永磁同步推进器动态特性，构建两栖无人艇整体运动模型；结合永磁同步电机控制研究，设计模糊神经网络鲁棒自适应跟踪控制器，实现任意光滑参考航迹的精确跟踪控制；通过仿真分析和实船实验，验证所得理论方法的有效性和优越性。本项目旨在面向考虑复杂推进器动态特性的多工作模式两栖无人艇，提出新的鲁棒自适应跟踪控制理论，实现未知复杂航行环境下的海洋航行器自主控制。

中文关键词： 两栖无人艇；航迹跟踪；鲁棒自适应控制；永磁同步推进器；系统建模

英文摘要： The unmanned surface vehicle (USV) and unmanned underwater vehicle (UUV) are two kinds of intelligent marine vehicles. However, previous studies mainly focus on a specific motion control system (i.e. USV or UUV). Nevertheless, complicated nonlinear dynamics of the thruster have also not been considered. Considering both USV and UUV dynamics, a novel amphibious unmanned marine vehicle (AUMV) system is proposed by combining the investigation of the unmanned vehicle dynamics with the research on the actuator nonlinearity, whereby the coordination propulsion is employed by multiple permanent magnet synchronous thrusters (PMST). By virtue of the novel AUMV system, innovative trajectory tracking control schemes for intelligent marine vehicles are developed in this proposal. The significant contributions are as follows: 1) The unified motion model of the AUMV is established; 2) Considering the unmodeled dynamics and unknown external disturbances, the robust adaptive motion control methodology for the AMUV is proposed; 3) The entire motion model of the AUMV is proposed by incorporating the PMST dynamics,; 4) Combining with the PMST control synthesis, fuzzy-neural-based adaptive robust tracking controller is implemented to track any smooth reference trajectory with high accuracy. Finally, simulation and experiment results together with comprehensive comparisons demonstrate the effectiveness and superiority of the proposed schemes. In this context, this project aims to set up the novel robust adaptive tracking control theory for multi-mode AUMV including complicated thruster dynamics, and thereby contributing to autonomous control of marine vehicles under unknown complex environmental disturbances.

英文关键词： amphibious unmanned marine vehicle;trajectory tracking;robust adaptive control;PMSM thruster;system modeling