全驱动AUV动力定位系统设计与实现

周启润; 曾庆军; 姚金艺; 朱志宇; 戴文文

doi:10.11993/j.issn.2096-3920.2019.03.015

全驱动AUV动力定位系统设计与实现

doi: 10.11993/j.issn.2096-3920.2019.03.015

江苏科技大学电子信息学院, 江苏镇江, 212003

基金项目: 国防基础科研计划项目(JCKY2017414C002); 国家自然科学基金资助项目(11574120); 江苏省产业前瞻与共性关键技术项目(BE2018103)

详细信息

作者简介:
周启润(1993-), 男, 在读硕士, 主要研究方向为水下机器人动力定位.

中图分类号: TJ630.33; TB568
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- 文章访问数: 809
- HTML全文浏览量: 4
- PDF下载量: 368
- 被引次数: 0
出版历程
- 收稿日期: 2019-01-17
- 修回日期: 2019-03-06
- 刊出日期: 2019-06-30

Design and Implementation of Dynamic Positioning System for a Fully Actuated AUV

School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China

摘要

摘要: 针对全驱动自主水下航行器(AUV)近水面运动控制由于自身惯量小, 面对环境扰动极为敏感的问题, 提出一种基于比例-积分-微分(PID)的动力定位控制方法。结合自主研发的“探海I型”AUV样机, 介绍了AUV系统结构设计思想, 并利用光纤惯导、多普勒计程仪和深度计组成水下航位推算系统, 借助PID控制对位置和姿态误差进行调校, 以抵抗环境干扰。最后通过对湖试结果进行分析, 验证了AUV动力定位系统的实用性, 为今后水下搜救、目标定位等扩展应用研究提供参考。
- 自主水下航行器 /
- 动力定位 /
- 比例-积分-微分控制 /
- 航位推算
Abstract: A dynamic positioning control method based on proportional-integral-derivative (PID) control for fully actuated autonomous undersea vehicle(AUV) is presented to solve the problem that AUV is sensitive to environmental disturbance due to its small inertia in the near-surface motion control. Taking the independently developed T-SEA I type AUV prototype for example, the structural design idea of the AUV system is introduced. The dead reckoning system is composed by optical fiber inertial navigation system, Doppler velocity log and depth gauge. The position and attitude errors are compensated by PID control to resist environmental disturbance. Lake test verifies the practicability of the dynamic positioning system. This study may provide a reference for future researches on underwater search and rescue, object location, and so on.
- autonomous undersea vehicle(AUV) /
- dynamic positioning /
- proportional-integral-derivative(PID) control /
- dead reckoning

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参考文献(15)

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