基于偶极势场的移动回收站空间回坞导引算法

齐贝贝; 严卫生; 高 剑

doi:10.11993/j.issn.2096-3920.2018.03.006

基于偶极势场的移动回收站空间回坞导引算法

doi: 10.11993/j.issn.2096-3920.2018.03.006

1.
西安航空职业技术学院航空维修工程学院, 陕西西安, 710089
2.
西北工业大学航海学院, 陕西西安, 710072

详细信息

作者简介:
齐贝贝(1990-), 女, 硕士, 主要研究方向为水下航行器导航与控制.

中图分类号: TJ630; TP242.3; TP273
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- 被引次数: 0
出版历程
- 刊出日期: 2018-06-30

3D Docking Guidance Algorithm Based on Dipole Field for a Moving Dock Station

1.
College of Aircraft Maintenance Engineering, Xi’an Aeronautical Polytechnic Institute, Xi’an 710089, China
2.
College of Marine Engineering, Northwestern Polytechnical University, Xi’an 710072, China

摘要

摘要: 针对自主水下航行器(AUV)的自主回收问题, 提出了一种基于偶极势场的移动回收站空间回坞导引算法。在回收站移动的情况下, AUV动态测量应答器的位置, 从而获得AUV在对接坐标系下的坐标和姿态角, 利用建立的偶极势场计算出期望的航向角和俯仰角, 期望的横滚角设为零。在偶极势场的导引下, AUV沿回收站的中轴线进入回收站。将AUV的控制分解为纵平面和水平面两部分, 通过采用自适应非奇异终端滑模控制的方法, 分别保证航向角和俯仰角回坞控制的鲁棒性和自适应性。最后, 仿真结果证明了在回收站移动的情况下, 所设计的空间回坞导引算法是有效的。文中的工作可为移动回收站的回坞对接研究提供参考。
- 自主水下航行器 /
- 移动回收站 /
- 空间回坞导引 /
- 偶极势场 /
- 自适应非奇异终端滑模控制
Abstract: To solve the autonomous docking problem of an autonomous undersea vehicle(AUV), a three-dimensional (3D) docking guidance algorithm based on dipole field is presented for a moving dock station. The position of the transponder is dynamically measured under moving condition of the dock station, and the coordinate and attitude angle of the AUV in docking coordinate system are obtained. The expected heading angle and pitch angle are calculated by using the established dipole field, and the expected roll angle is set to zero. Under the guidance of dipole field, the AUV enters the dock station along the central axis. The control of the AUV is decomposed into two parts in respective longitudinal plane and horizontal plane. By adopting adaptive nonsingular terminal sliding mode control, the robustness and adaptability of controlling heading angle and pitch angle in docking are guaranteed. Simulation shows that the 3D docking guidance algorithm is effective for the moving dock station. This work may provide a reference for the research on docking of moving dock station.
- autonomous undersea vehicle(AUV) /
- moving dock station /
- three-dimensional docking guidance /
- dipole field /
- adaptive nonsingular terminal sliding mode control

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参考文献(14)

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