摘要
[目的]旨在分析研究水下机器人水平面轨迹跟踪的问题。[方法]首先,基于水下机器人平面轨迹跟踪控制目标对机器人系统三自由度运动方程进行推导;然后,通过STAR-CCM+和ANSYS AQWA软件分别获取机器人阻力项参数和附加质量项参数,并结合机器人自身动力配置条件、计算所得的水动力参数,基于反步法和滑模控制技术对其进行控制策略设计;最后,使用该控制策略针对机器人水平面线性运动轨迹和非线性运动轨迹在Matlab/Simulink平台进行轨迹跟踪仿真计算。[结果]结果表明:水下机器人能够针对上述两类运动轨迹实现较好的跟踪效果,且螺旋桨推力变化平缓。[结论]所设计的控制器可以使水下机器人快速跟踪目标运动轨迹,并保持较好的持续跟踪效果。
[Objective] This paper aims to analyze the horizontal trajectory tracking of an underwater vehicle.[Methods]First, the 3-DOFs motion equation is derived based on the plane trajectory tracking control target of the underwater vehicle, and the damping term parameters and additional mass term parameters of the vehicle are obtained through the commercial CFD software STAR-CCM+ and ANSYS AQWA respectively. Combined with the dynamic configuration of the vehicle and calculated hydrodynamic parameters, a control strategy is designed on the basis of backstepping and sliding mode control technology. Finally, using the designed control strategy, the trajectory tracking simulation calculation is carried out on the Matlab/Simulink platform for both the linear and nonlinear motion trajectories of the vehicle on the horizontal plane.[Results]The numerical simulation results show that the underwater vehicle can achieve good tracking effects for both kinds of motion trajectories, and the propeller thrust changes smoothly.[ Conclusions]The controller designed in this paper can enable an underwater vehicle to track its target trajectory quickly and maintain a good continuous tracking effect.
作者
罗一汉
吴家鸣
周汇锋
LUO Yihan;WU Jiaming;ZHOU Huifeng(School of Civil Engineering and Transportation,South China University of Technology,Guangzhou 510641,China)
出处
《中国舰船研究》
CSCD
北大核心
2022年第3期237-245,272,共10页
Chinese Journal of Ship Research
基金
国家自然科学基金资助项目(51979110)。
关键词
水下机器人
轨迹跟踪
滑模控制
CFD
反步法
underwater vehicle
trajectory tracking
sliding mode control
CFD
backstepping
