基于能量优化的AUV舵角解耦方法

王明亮; 李德隆; 林 扬; 朱兴华; 贾松力

doi:10.11993/j.issn.2096-3920.2019.03.013

基于能量优化的AUV舵角解耦方法

doi: 10.11993/j.issn.2096-3920.2019.03.013

中国科学院沈阳自动化研究所, 辽宁沈阳, 110016

基金项目: 中科院青年创新促进会会员基金(2016187)

详细信息

作者简介:
王明亮(1988-), 男, 硕士, 助理研究员, 主要研究方向为水下机器人控制技术.

中图分类号: TJ630.33; U674.941; TP273
计量
- 文章访问数: 357
- HTML全文浏览量: 18
- PDF下载量: 274
- 被引次数: 0
出版历程
- 收稿日期: 2018-12-06
- 修回日期: 2019-01-04
- 刊出日期: 2019-06-30

AUV Rudder Angle Decoupling Method Based on Energy Optimization

Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China

摘要

摘要: 欠驱动自主水下航行器(AUV)的联动式艉舵调整过程中, 横向滚动姿态会导致水平和垂直方向控制的耦合问题。文中面向恢复力矩小、单桨推进及载荷多变的AUV航行任务, 提出了一种基于横滚角信息的舵角解耦和能量利用方法。该解耦方法充分考虑了横滚姿态下全局能量最优利用的可能性, 结合神经网络算法, 设计了基于能量消耗最优的参数优化策略, 以降低执行机构的动作行程, 达到降低系统能耗的目的。通过仿真试验获得了同理论分析一致的数值仿真结果, 验证了所提方法的可行性。实际航行数据的统计结果表明该方法能够有效减小操舵行程, 降低功耗。
- 自主水下机器人 /
- 横滚角 /
- 神经网络 /
- 解耦控制 /
- 低功耗
Abstract: During the steering of tail rudder linkage of an underactuated autonomous undersea vehicle(AUV), the rolling attitude will result in the coupling of controls in horizontal and vertical planes. Focusing on the navigation mission of the AUV with low restoring moment, single propeller and variable loads, this paper proposes a new rudder angle decoupling method with energy reuse based on the known roll angle, in which global optimal utilization of the energy generated by rolling attitude is taken into account. A neural network algorithm is used in the decoupling method to optimize the decoupling parameters, thus reducing the working stroke of the actuators and enhancing the utilization of global energy. Numerical simulation result coincides with the theory analysis, validating the feasibility of the proposed method. Results from sea trial indicate that the proposed method can effectively reduce the steering stroke of the actuators and power consumption.
- autonomous undersea vehicle(AUV) /
- roll angle /
- neural network /
- decoupling control /
- low power consumption

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参考文献(13)

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