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针对低速状态下自治水下机器人(AUV)翼舵力不足的问题,提出了一种基于垂向推进方式的AUV低速近底稳定航行控制方案.基于航速因素,对比分析了翼舵和垂向推进器的推力特性,设计艏艉槽道垂向推进器布置方案.在此基础上通过改进PID(比例-积分-微分)控制策略,优化参数完成垂向运动控制.最后利用某型AUV进行湖上试验,对比翼舵推进方式,得出垂向推进器驱动方式具有更好的低速状态下近底定高航行操控性,实现了控制航行体高度均方差在0.1 m、纵倾均方差在0.5?以下的稳定航行.
Aiming at the problem of insufficient wing force of autonomous underwater vehicle (AUV) wing at low speed, a low-speed, near-bottom stable navigational control scheme of AUV based on vertical propulsion is proposed. Based on the speed factors, the wing rudder and vertical propulsion Based on the thrust characteristics of the device and the design scheme of the vertical thrusters in the sublevel channel, based on which the PID (Proportional-Integral-Derivative) control strategy is improved to optimize the vertical motion control parameters.At the end of the experiment, Compared with the propeller propulsion method, we can conclude that the vertical propeller driving mode has a better low-speed and high-altitude maneuvering control. The mean square deviation of the control voyage height is 0.1 m and the mean square deviation of the trim is less than 0.5 Stable navigation.