基于全向运动的AUV轨迹跟踪控制方法

徐江鹏; 王俊雷; 唐怡

doi:10.11993/j.issn.2096-3920.2024-0084

基于全向运动的AUV轨迹跟踪控制方法

doi: 10.11993/j.issn.2096-3920.2024-0084

中国船舶集团有限公司七一五研究所, 浙江杭州, 310023

详细信息

作者简介:
徐江鹏(1994-), 男, 硕士, 工程师, 研究方向为水下航行器控制

中图分类号: U674.941; TP13
计量
- 文章访问数: 52
- HTML全文浏览量: 15
- PDF下载量: 15
- 被引次数: 0
出版历程
- 收稿日期: 2024-05-22
- 修回日期: 2024-06-20
- 录用日期: 2024-07-03
- 网络出版日期: 2024-09-29

AUV omnidirectional trajectory tracking control method

The 715 Research Institute, China State Shipbuilding Corporation Limited, Hangzhou 310023, China

摘要

摘要: 自主水下航行器(AUV)的精确轨迹跟踪能力是完成勘探、避障、管路巡检等水下任务的技术基础, 但AUV是典型欠驱动系统, 满足非完整动力学约束, 导致无法跟踪某些特殊轨迹, 也无法完成某些特殊水下动作, 例如守位调头、机头定点环绕观测等。多数研究者基于欠驱动系统理论研究如何提升AUV水下轨迹跟踪能力, 文中则从结构改进的角度, 通过借鉴水下遥控航行器(ROV)构型设计提出了新的AUV全向运动轨迹跟踪控制方法, 方法在保留AUV原有低阻流线型的鱼雷状结构设计与运动模式的前提下, 再赋予AUV新的全向运动模式, 其独特的全向运动模式解决了AUV轨迹跟踪中的运动约束问题, 具备了对任意轨迹的跟踪能力, 并完成特殊的水下动作。文中以Bluefin系列AUV为例, 设计改造全向式运动结构、开发基于Hermite算法的轨迹生成算法、基于缩放因子的轨迹导引算法以及航向-航行混控算法, 并对控制方法进行了仿真验证与水下试验验证。结果表明: 该方法能够实现AUV全向航行, 解决AUV轨迹跟踪中的运动约束问题 , 使AUV具备对任意轨迹的跟踪能力, 并完成目标动作。
- 自主水下航行器 /
- 水下遥控航行器 /
- 全向运动 /
- 轨迹跟踪 /
- 混合控制 /
- 控制分配
Abstract: The precise trajectory tracking capability of autonomous undersea vehicles(AUVs) is crucial for completing underwater tasks such as exploration, obstacle avoidance, and pipeline inspection. However, AUVs are typically underactuated systems that satisfy non-holonomic dynamic constraints, which means they cannot track some specific trajectories or perform some specific underwater maneuvers, such as station-keeping U-turns, and point-circling observations. Most researchers focus on improving the trajectory tracking capability of AUVs based on underactuated system theory. This paper, however, proposes a new omnidirectional motion trajectory tracking control method for AUVs from the perspective of structural improvement, drawing on the configuration design of remotely operated vehicles(ROVs). The method retains the original low-drag streamlined torpedo-like design and motion mode of AUVs while endowing them with a new omnidirectional motion mode. This unique omnidirectional motion mode solves the motion constraint problem in AUV trajectory tracking, enabling them to track any trajectory and perform specific underwater maneuvers. Using the Bluefin series AUV as an example, the paper designs and modifies the omnidirectional motion structure, develops a trajectory generation algorithm based on Hermite algorithm, trajectory guidance algorithm based on scaling factor and a heading-swaying mixed control algorithm. Both simulation and underwater experiments validate the control method. The results show this method can achieve omnidirectional navigation, solve motion constraint problem in AUV trajectory tracking, enable them to track any trajectory, and complete target maneuvers.
- autonomous undersea vehicle /
- remotely operated vehicle /
- omnidirectional motion /
- trajectory tracking /
- hybrid control /
- control allocation

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图 1 ROV和Bluefin AUV

Figure 1. ROV and Bluefin AUV

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图 2 Bluefin21型AUV

Figure 2. Bluefin21 AUV

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图 3 双侧推AUV结构示意图

Figure 3. Structure diagram of double thrusters AUV

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图 4 T200推进器

Figure 4. T200 thruster

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图 5 路径约束

Figure 5. Path constraint

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图 6 轨迹跟踪算法流程图

Figure 6. Flowchart of trajectory track algorithm

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图 7 位置控制外环

Figure 7. Outer position control loop

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图 8 速度控制内环

Figure 8. Inner velocity control loop

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图 9 双侧推航行-航向控制示意图

Figure 9. Swaying-heading control of double thrusters

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图 10 航行-航向混控框架

Figure 10. Frame of sailing-heading hybrid control

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图 11 深度控制

Figure 11. Depth control simulation

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图 12 进退轨迹跟踪(PID)

Figure 12. Surging trajectory tracking simulation(PID)

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图 13 进退轨迹跟踪(串级PID)

Figure 13. Surging trajectory tracking simulation(cascade PID)

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图 14 侧向轨迹跟踪(PID)

Figure 14. Swaying trajectory tracking simulation(PID)

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图 15 侧向轨迹跟踪(串级PID)

Figure 15. Swaying trajectory tracking simulation (cascade PID)

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图 16 自守位航向控制

Figure 16. Heading control while position holding

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图 17 全向环绕式航行测试

Figure 17. Omnidirectional hovering test

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图 18 无进退控制时的椭圆航迹

Figure 18. Elliptical trajectory while lack of surging control

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图 19 定点环绕试验航迹图

Figure 19. Omnidirectional hovering trajectory

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图 20 航向跟踪图

Figure 20. Heading tracking control

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图 21 下潜试验

Figure 21. Dive test in lake test

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图 22 深度控制试验

Figure 22. Depth control in lake test

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图 23 航行速度试验

Figure 23. Velocity of AUV in lake test

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图 24 水面航行观测效果图

Figure 24. Surface trajectory observation

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表 1 T200推进器部分性能参数

Table 1. Partial performance parameters of T200

电压/V 最大功率/W 推力/(kg f) 效率/(g/W)

10 136.0 2.93 21.5
12 202.9 3.71 18.3
14 285.0 4.52 15.9
16 381.3 5.25 13.8
18 496.3 6.02 12.1
20 624.2 6.72 10.8

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表 2 深度控制模糊规则表

Table 2. Depth control fuzzy rule

U_{pwm_duty} Ec
PL PM PS Z NS NM NL

E NL Z NS NM NM NM NL NL
NM PS Z NS NM NM NM NL
NS PM PS Z NS NM NM NM
Z PM PM PS Z NS NM NM
PS PM PM PM PS Z NS NM
PM PL PM PM PM PS Z NS
PL PL PL PM PM PM PS Z

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