剩余浮力影响下AUV地形跟踪方法研究

项目名称： 剩余浮力影响下AUV地形跟踪方法研究

项目编号： No.51509057

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 其他

项目作者： 李岳明

作者单位： 哈尔滨工程大学

项目金额： 20万元

中文摘要： 地形跟踪是AUV在进行某些作业任务时必须具备的能力。针对提高AUV探测作业效率与精度的需求，以剩余浮力影响下的地形跟踪控制问题为背景，对非静稳定运动模型及非精确模型下的AUV垂直面运动控制关键问题进行研究，探索一条能够有效抵抗未知剩余浮力影响的AUV地形跟踪解决途径。采用双传感器对AUV到海底的距离信息进行测量，完成动态的海底剖面建模，为地形跟踪提供前馈信息；通过设计深度纵倾耦合控制器，实现AUV深度欠驱动控制，并且克服剩余浮力对升沉运动的干扰，为地形跟踪提供基础；充分利用探测得到的AUV前方地形信息，在跟踪控制器中直接引入前馈项，避免了稳态误差，并有效应对地形快速的变化；对剩余浮力进行在线辨识，一方面可改善控制效果，另一方面可提高AUV的安全性；最后通过半实物仿真对研究方法进行验证。本项目研究的方法可有效拓展AUV在实际海洋环境中的作业能力以及系统安全性。

中文关键词： 欠驱动；非线性控制；路径跟踪；鲁棒控制；观测器

英文摘要： Bottom following control is the basic ability to finish some certain tasks for an autonomous underwater vehicle (AUV). However, for most of the AUVs, there are two important issues needed to be solved to achieve the bottom following control. One is the limit of the under-actuation of the depth control, and the other one is the influence of the residual buoyancy caused by the density of the ocean. So that, we need to find an effective solution to achieve the AUV’s bottom following control, and the solution should be able to resist the influence of unknown residual buoyancy from vertical movement effectively. Here, we use two sensors to measure the distance between AUV and the sea bottom, which builds the dynamic model of the area and offers AUV the feedforward information of bottom following control at the same time. Then, we design one depth and pitch coupling controller. It can overcome the disturbance of the residual buoyancy’s influence to the heaving motion and build the foundation of bottom following. Making full use of AUV’s forward bottom information form sensors and use the feedforward item in following controller can avoid the steady-state error and respond to rapid change in bottom effectively. Making the online identification of residual buoyancy can improve the control effect and increase the safety of the AUV. We even make a hardware-in-the-loop simulation to test the control method. The control method of this project can effectively improve the AUV’s ability.

英文关键词： underactuated;nonlinear control;path following;robust control;observer