摘要
推力器是水下机器人系统的关键要素,其推力建模和控制是进行水下机器人控制和仿真的核心。针对简化的自治水下机器人(Autonomous underwater vehicle,AUV)推力器控制系统的推力响应实时性不高和抗干扰能力不强的缺点,提出一种基于人工免疫反馈的AUV推力控制方法,该方法不受推力器水动力试验和理论计算的困难性的缺点影响,具有较好的实时性和鲁棒性,可为AUV运动控制、状态响应、控制系统开发等提供控制方法。针对流线型AUV原型样机CRanger-2,在简化推力模型的分析基础上,利用该控制策略,建立推力实时调试系统,在不同大小推力和不同干扰情况下进行推力控制仿真分析,得到推力器推力的控制响应曲线。通过对无刷直流电动机进行控制进行验证,结果表明该控制策略能有效地控制推力器推力,可为工程实践提供参考依据。
The thruster is the crucial factor of an underwater vehicle system,because its thrust modeling and control is the core of underwater vehicle control and simulation.With a view to the drawbacks of thrust real-time response and anti-jamming capability of simplified thruster control model of Autonomous underwater vehicle,an artificial immune feedback based thrust control method of thruster is presented.This method has a good real-time performance and robustness without the difficulty of carrying out hydro-dynamic experiment and theory calculation.It can provide methods for motion control,state response and control exploitation of AUV.Aimed at a streamlined AUV prototype named CRanger-2,the immune feedback mechanism is used to control the thrust of thrusters based on the analysis of the simplified thrust model by the creation of thrust real-time debugging system.Then the thrust output response curve is obtained according to different thrust input and interference signals through simulation analysis of thrust control.By the control and verification test of brushless DC motor,the result demonstrates that the method can control the thruster＇s thrust effectively and can provide a reference for engineering practice.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2011年第21期22-27,36,共7页
Journal of Mechanical Engineering
基金
国家高技术研究发展计划(863计划
2009AA120Z330)
上海交通大学海洋工程国家重点实验室研究基金(1004)资助项目
关键词
自治水下机器人
免疫反馈
推力器控制
实时仿真
Autonomous underwater vehicle Immune feedback Thruster control Real-time simulation
