基于模型预测控制算法的轻型长航程AUV航控系统研究
Research on Flight Control System of Lightweight Long-Range AUV Based on Model Predictive Control
投稿时间:2020-01-02  修订日期:2020-01-15
DOI:
中文关键词:  轻型长航程AUV  变浮力重心可调系统  模型预测控制
英文关键词:lightweight long-range AUV  system with variable buoyancy and center of gravity  model predictive control
基金项目:国家重点研发计划(2017YFC0305801);中国科学院战略先导专项(XDA13030202);机器人学国家重点实验室项目(2015-Z09)
作者单位E-mail
黄琰 中国科学院沈阳自动化研究所机器人学国家重点实验室 huangy@sia.cn 
胡峰 中国科学院沈阳自动化研究所机器人学国家重点实验室  
俞建成 中国科学院沈阳自动化研究所机器人学国家重点实验室 yjc@sia.cn 
乔佳楠 中国科学院沈阳自动化研究所机器人学国家重点实验室  
王振宇 中国科学院沈阳自动化研究所机器人学国家重点实验室  
谢宗伯 中国科学院沈阳自动化研究所机器人学国家重点实验室  
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中文摘要:
      针对海洋时变中小尺度过程长期精细观测需求,研制了一种轻型长航程AUV。这种AUV的最大的特征是借鉴了水下滑翔机的变浮力、重心可调执行机构,使得其具备海洋环境自适应能力,可在不同海水密度条件下实现零攻角高效航行。首先介绍了轻型长航程AUV的系统组成,讨论了这种可变浮力、可调重心AUV的航行控制系统设计;针对这种AUV新增的浮力和重心两个控制输入量间存在系统耦合的问题,开展了基于模型预测算法的零攻角定深航行控制器研究,着重阐述和推导了控制目标的修正、面向控制的动力学建模以及模型预测控制器的设计过程。最后通过仿真验证了所述方案和方法的可行性。该研究有利于提高轻型长航程AUV的航行效率,进一步提升AUV的续航能力。
英文摘要:
      A lightweight long-range AUV is developed to meet the requirements of long-term intensive observation in the small or medium-scale ocean time-varying processes. The system with variable buoyancy and adjustable center of gravity, which inspired by the design of underwater gliders, is the biggest feature of this AUV, and makes this type of AUV have the ability to adapt to the marine environment, and achieve efficient cruise at zero-angles-of-attack state under different seawater density conditions. First of all, the system structure of the lightweight long-range AUV is introduced, and then the design of AUV’s flight control system is discussed. Aiming at the problem of systematic coupling between the two newly added control inputs of buoyancy and center of gravity of this AUV, research on a zero-angle-of-attack fixed-depth flight controller based on a model prediction algorithm is carried out. The modification of control objective, control-oriented dynamics modeling and the design of model predictive controller are derived and explained. Finally, the feasibility of the presented control system solution and method is verified by simulation. The research is beneficial to improve the efficiency of the light long-range AUV’s cruise and improve the endurance of the AUV.
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