摘要
按自治式水下机器人(AUV)需要接近水下工作站并实现坐落的要求,依据平壁面对AUV水动力干扰的力学机理,建立了AUV在平壁面附近运动时的数学模型,并设计了五个自由度运动PID控制器.在海流影响下,通过系统仿真,实现了AUV的五自由度运动控制和准确坐落,仿真结果验证了控制策略的可行性.
According to the requirement that autonomous underwater vehicle （AUV） should approach and locate on the underwater workstation, the mathematical model of A UV moving near the plane wall is presented on the basis of the principle of hydrodynamic forces disturbed by plane wall, and PID controllers with five degrees of freedom are designed. Under the influence of ocean current, the motion control of A UV in five degrees of freedom as well as the accurate location on the workstation is accomplished by system simulations. The simulation results demonstrate the feasibility of the control strategy.
出处
《船舶工程》
CSCD
北大核心
2006年第5期63-66,共4页
Ship Engineering
关键词
机器人
自治式水下机器人
建模
水动力干扰
PID控制
robot
autonomous underwater vehicle（AUV）
modeling
hydrodynamic interactions
PID control
