自主式水下航行器控制技术新进展

葛 晖; 徐德民; 项庆睿

doi:10.11993/j.issn.1673-1948.2007.03.001

自主式水下航行器控制技术新进展

doi: 10.11993/j.issn.1673-1948.2007.03.001

1.
西北工业大学航海学院,陕西西安 710072
2.
中国船舶重工集团第705研究所,陕西西安 710075

详细信息

作者简介:
葛晖(1978-)，男，在读博士，主要从事自主式水下航行器导航、制导与控制方面的研究

中图分类号: TJ 630.1
计量
- 文章访问数: 3533
- HTML全文浏览量: 8
- PDF下载量: 1559
- 被引次数: 0
出版历程
- 收稿日期: 2007-03-02
- 修回日期: 2007-04-23
- 刊出日期: 2007-06-30

New Development of Control Technique of Autonomous Underwater Vehicle

1.
College of Marine Engineering,Northwestern Polytechnical University, Xi′an 710072, China
2.
The 705 Research Institute, China Shipbuilding Industry Corporation, Xi′an 710075, China

摘要

摘要: 自主式水下航行器是一个复杂的智能化机电系统，是能够在复杂的海洋环境中自主执行各种任务的无人平台。近年来，自主式水下航行器(AUV)控制技术取得了长足进展,本文较全面概括了近年来国内外在AUV控制技术领域的最新进展，主要包括基于控制器设计的建模、推进器建模与控制、动力定位控制、推力矢量控制、欠驱动控制等方面,然而目前AUV控制领域面临的难点主要在模型不确定和扰动不确定、传感器信息不足以及欠驱动系统的本质特性（例如可控性）及其控制方法等方面,还需要人们为之付出不懈的努力。
- 自主式水下航行器 /
- 机电系统 /
- 运动控制 /
- 动力定位控制 /
- 推力矢量控制 /
- 欠驱动控制
Abstract: The autonomous underwater vehicle(AUV) is a complex intelligent electromechanical system to carry out different types of missions in the complex ocean environment. This paper introduces the new progress of the AUV control technique worldwide in recent years, including the modeling based on controller design, modeling and control of thruster, dynamic positioning, vector thrust control, and underactuated control, etc. It is pointed out that a continuous effort should be made to overcome such difficulties in the field of AUV control as uncertainties of modeling and disturbance, insufficient information from sensors, inherent characteristics of underactuated system (e.g. controllability) and its control technique.
- autonomous underwater vehicle(AUV) /
- electromechanical system /
- motion control /
- dynamic positioning control /
- vector thrust control /
- underactuated control

HTML全文

参考文献(40)

[1]	徐玉如,庞永杰,甘永.智能水下机器人技术展望.智能系统学报.2006(1):9-16.
[2]	T.I.Fossen and O.E.Fjellstad.Nonlinear Modelling of Marine Vehicles in 6 Degrees of Freedom.International Journal of Mathematical Modelling of Systems,JMMS,1995,1(1).
[3]	T.I.Fossen.A Nonlinear Unified State-Space Model for Ship Maneuvering and Control in a Seaway.Journal of Bifurcation and Chaos.September 2005.
[4]	E.Kristiansen.State Space Representation of Hydrodynamic Memory Effects.Dept.of Eng.Cybernetics,Norwegian University of Scienceand Technology.2005.
[5]	于华男.开架式水下机器人辨识与控制技术研究.哈尔滨工程大学,2003.
[6]	傅慧萍.潜射导弹运载器动力学建模与辨识.西北工业大学,2001.
[7]	Joonyoung Kim,Kihun Kim.Choi,Estimation of HydrodynamicCoefficients for an AUV Using Nonlinear Observers.IEEE Journal of Oceanic Engineering,Vol.27,No.4,October 2002.
[8]	D.B.Marco,A.Martins,A.J.Healey.Surge motion parameter identification for the NPS Phoenix AUV.International Advanced Robotics Program (IARP’98), Lafayette,IN,Feb,1998:197-210.
[9]	张铭钧.基于神经网络和遗传算法的水下机器人运动建模、规划与控制技术研究哈尔滨工程大学,1997.
[10]	张铭钧.水下机器人非完全回归型神经网络运动模型的研究.船舶工程.1999(1):39-42,46.
[11]	张铭钧.基于神经网络的无人无缆水下机器人运动建模与控制技术研究.中国造船.1999(2):87-90.
[12]	D.R.Yoerger,J.G.Cooke,and J.-J. E.Slotine,The Influence of Thruster Dynamics on Underwater Vehicle Behavior and Their Incorporation into Control System Design. IEEE J.Oceanic Eng.Vol.15:167-178,July 1990.
[13]	A.J.Healey,S.M.Rock,S.Cody,D.Miles.Toward an Improved Understanding of Thruster Dynamics for Underwater Vehicles.IEEE J.Oceanic Eng.Vol.20:354-361,Oct.1995.
[14]	L.L.Whitcomb and D.R.Yoerger.Development, Comparison, and Preliminary Experimental Validation of Nonlinear Dynamic Thruster Models.IEEE J.Oceanic Eng.Vol.24:481-494,Oct.1999.
[15]	M.Blanke, K.P.Lindegaard and T.I.Fossen.Dynamic Model for Thrust Generation of Marine Propellers.In:Proc.5th IFAC Conference of Manoeuvring and Control of Marine Craft (MCMC’00).Aalborg,Denmark.
[16]	T.I.Fossen,M.Blank.Nonlinear Output Feedback Control of Underwater Vehicle Propellers Using Feedback Form Estimated Axial Flow Velocity. IEEE J.Ocean.Eng.2000,25 (2):241-255.
[17]	Bachmayer,R.,L.L. Whitcomb.An AccurateFour-Quadrant Nonlinear Dynamical Model for Marine Thrusters:Theory and Experimental Validation.IEEE Journal of Oceanic Engineering25(1),146-159.
[18]	Jinhyun Kim, Wan Kyun ChungAccurate and practical thruster modeling for underwater vehicles. IEEE J.Oceanic Eng.Vol.20:354-361,Oct.1995.
[19]	黄建忠.随机硬浪下螺旋桨的扭矩和推力变化的统计分析.上海海运学院学报.1994 (4) .
[20]	фyvind N.Smogeli, J. Hansen, A. J. Sфrensen and T. A. Johansen.Anti-spin Control for Marine Propulsion Systems. Proceedings of the 43rd IEEE Conference on Decision and Control (SYSID’04),Paradise Island,Bahamas,December 14-17.
[21]	T.I.Fossen and J.P.Strand.Nonlinear Passive Weather Optimal Positioning Control(WOPC) System for Ships and Rigs: Experimental Results.Automatic 37:701-715.
[22]	Jose Paulo,Design of a High Performance Variable Structure Position Control of ROVs.IEEE Journal of Oceanic Engineering,Vol.20,No.1.January 2005.
[23]	杨凌轩,刘开周,王晓辉.自适应LQR方法在载人潜水器动力定位中的应用研究,海洋工程.2006. 24 (3) :100-106.
[24]	Jean Francois.Application of Visual Servoing to the Dynamic Positioning of an Underwater Vehicle,Phd Thesis,Heriot-Watt University of Australia.2002.
[25]	Liu Hsu,Dynamic Positioning of Remotely Operated Underwater Vehicles,IEEE Robotics and Automation Magazine,2000,7(3):21-31.
[26]	Antonio Pedro Aguiar and Antonio M.Pascoal,Regulation of a Nonholonomic Autonomous.Underwater Vehicle with Parametric Modeling Uncertainty using Lyapunov Functions.40th? IEEE Conference on Decision and Control,Orlando,FL,Dec.2001.
[27]	东方.水下机器人回收时智能控制技术的研究.哈尔滨工程大学,2005.
[28]	Davis,Duane,Precision Maneuvering and Control of the Phoenix Autonomous Underwater Vehicle for Entering a Recovery Tube,Naval Postgraduate School,1996.
[29]	Healey,A.J.Marco,Autonomous Underwater Veh8icle Control Coordination Using a Tri-Level Hybrid Software architecture.Proceedings of the IEEE Robotics and Automation Conference Minneapolis Minnesota,April 1996.
[30]	Brutzman.A Virtual World for an Autonomous Underwater Vehicle,PhD.Naval Postagraguate School,1994.
[31]	Emanuele Cavallo and Rinaldo C.Michelini.Conceptual Design of an AUV Equipped with a Three Degree of Freedom Vectored Thruster,Journal of Intelligent &Robotic Systems2004,(39):365-391.
[32]	Y.G.Le Page,Hydrodynamics and Control of an Autonomous Underwater Vehicle Equipped with a Vectored Thruster,Florida Atlantic University,2000.
[33]	Yannick Morel.Design of an Adaptive Nonlinear Controller for an Autonomous Underwater Vehicle Equipped with a Vectored Thruster,Florida Atlantic University,2002.
[34]	Peng fei Liu.WIG Thruster and Its Application to AUV/ROV.OSCILLATING FOIL PROPULSION SYSTEM,Provisional PAtent Application No.60/451,667 filed March 5,2003 and patent pending.http://www.engr.mun.ca/~pliu/Recent_Work/WIG_Application.html.
[35]	Do, K., Z. Jiang, J. Pan.A Global Output-Feedback Controller For Stabilization and Tracking of Underactuated ODIN: A Spherical Underwater Vehicle.Automatica,Vol.40:117-124.
[36]	Pedro Aguiar,Dynamic positioning and way point tracking of underactuated AUVs in the presence of ocean currents,Proceedings of the 41th IEEE Conference on Decision and Control Las Vegas,Nevada USA,December 2002.
[37]	F.Alonge Robust and adaptive path following for underactuated autonomous underwater vehicles.Proceedings of the 41th IEEE Conference on Decision and Control Las Vegas,Nevada USA,December 2002.
[38]	Jerzy Garus,Optimization of Thrust Allocation in The Propulsion System of an Underwater Vehicle.Int.J.Appl.Math.Comput.Sci.,2004,Vol.14(4):461-467.
[39]	T.A.Johansen,Optimizing Nonlinear Control Allocation. in IEEEConf. Decision and Control, Nassau, Bahamas, 2004:3435-3440.
[40]	俞建成.基于SQP算法的7000m载人潜水器有约束非线性控制分配.信息与控制.2006 (35) :508-512.