全驱动AUV系统路径跟踪设计与实现

姚金艺; 曾庆军; 周启润; 朱志宇; 包灵卉

doi:10.11993/j.issn.2096-3920.2019.04.014

全驱动AUV系统路径跟踪设计与实现

doi: 10.11993/j.issn.2096-3920.2019.04.014

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:
姚金艺(1993-), 男, 在读硕士, 研究方向为水下机器人运动控制.

中图分类号: TJ630; TB568
计量
- 文章访问数: 618
- HTML全文浏览量: 17
- PDF下载量: 276
- 被引次数: 0
出版历程
- 收稿日期: 2019-01-17
- 修回日期: 2019-03-29
- 刊出日期: 2019-08-31

Design and Implementation of a Path Tracking System for 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)水下搜救和回收等应用需求, 提出一种基于全球定位系统(GPS)、多普勒计程仪(DVL)、光纤惯导和深度计及航路点跟踪的AUV路径跟踪控制系统。结合自主研发的“探海Ι型”AUV样机, 介绍了AUV分布式系统组成结构、基于MOOS库的软件开发设计以及基于PC104总线架构开发的硬件设计, 并针对AUV系统的路径跟踪功能, 阐述了航路点跟踪原理及以GPS、DVL、光纤惯导和深度计为基础的导航算法, 并设计了比例-积分-微分(PID)路径跟踪控制器, 最后进行了路径跟踪湖试, 经过对试验曲线的分析, 验证了该方法的有效性, 为今后进一步优化路径跟踪探明了一条可行的技术途径。
- 自主水下航行器 /
- 路径跟踪 /
- 比例-积分-微分控制器 /
- 航路点跟踪
Abstract: Aiming at the application requirements for such as recovery, underwater search and rescue, and so on, a path tracking control system for fully actuated autonomous undersea vehicle(AUV) is proposed based on global positioning system(GPS), Doppler velocity log(DVL), optical fiber inertial navigation, depth gauge and waypoint tracking. The distributed system structure of AUV, the software design based on MOOS, the hardware design based on PC104 bus architecture are introduced according to the independently developed T-Sea I type AUV prototype. The principle of waypoint tracking and the navigation algorithm based on GPS, DVL, optical fiber inertial navigation and depth gauge are discussed, and then a proportion-integral-derivative(PID) path tracking controller is designed. Lake test of path tracking is carried out and the test curves are analyzed to verify the validity of the proposed method.
- autonomous undersea vehicle(AUV) /
- path tracking /
- proportion-integral-derivative(PID) controller /
- waypoint tracking

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参考文献(10)

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