基于状态观测的AUV浮力调节方法和应用技术研究

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 海洋机器人卓越创新中心

题名	基于状态观测的AUV浮力调节方法和应用技术研究
作者	孙庆刚; 陈俊
学位类别	硕士
答辩日期	2018-05-17
授予单位	中国科学院沈阳自动化研究所
授予地点	沈阳
导师	郑荣
关键词	AUV 浮力调节系统运动建模定深悬浮水下着陆
其他题名	Research on AUV Variable Buoyancy System Method and Applied Technology Based on State Observation
学位专业	机械制造及其自动化
中文摘要	本文针对浮力调节系统及基于浮力调节系统的AUV应用技术问题，主要做了一下几个方面的研究工作：（1）分析研究国内外浮力调节系统的研究成果，有针对性地设计了一种油囊式浮力调节系统，并加工出试验样机；通过水池和湖上试验，对现有的浮力调节系统进行优化设计，使其流量计量更加准确；（2）介绍了AUV水下运动建模的参考系的建立及坐标系之间的变换；对AUV水下航行过程中受到的静力和水动力进行了详细的分析；在以上基础上，推导建立了AUV的水平面运动和垂直面运动方程；同时，对AUV的空间六自由度运动方程的简化规则进行了介绍；（3）基于空间六自由度运动方程，对AUV航行中的运动模型进行建立，为此设计试验方案获取实际航行数据，建立运动参数（水平舵舵角、纵倾角）与浮力状态之间的对应关系模型，同时，对所建立的模型进行了湖上试验验证，并介绍了无模型控制方法下的航行中自动配平，通过分析得出：当控制精度要求高时，采用模型控制；当精度要求低时，采用无模型控制。（4）针对AUV定深悬浮的需求，基于浮力调节系统进行了定深悬浮试验，利用无模型反馈的控制方法，分别进行了定深3米、定深10米的湖上试验验证，试验误差均满足工程需求；同时，对依靠浮力调节系统定深和依靠垂直槽道推进器定深两种定深方式的功耗进行了对比，通过数据支持了浮力调节系统更加符合节能的需求。
英文摘要	This paper focuses on the variable buoyancy system and the applied technology based on the variable buoyancy system, Mainly done several research work : (1) Analysing and researching the research results of buoyancy control systems at home and abroad, an oil bladder variable buoyancy system was proposed specifically, and prototypes were machined. Through the pool and lake tests, the existing variable buoyancy system is optimized to make the flow measurement more accurate. (2) The establishment of a reference coordinate systems for AUV underwater motion modeling and the transformation between coordinate systems are introduced. A detailed analysis of the static and hydrodynamic forces encountered during underwater navigation of AUV . Based on the above, the horizontal motion and vertical motion equations of AUV are deduced. At the same time, the simplified rules of the spatial 6-DOF motion equation of AUV are introduced. (3) Based on the spatial 6-DOF motion equation, the motion model in AUV navigation is established. The experimental scheme is designed to obtain the actual navigation data, and the corresponding relationship model between the motion parameters (horizontal rudder angle and pitch angle) and buoyancy state is established. At the same time, the established model was tested on the lake and compared with the modelless control method. Through comparative analysis, it is concluded that when the control accuracy is high, the model control is used; when the accuracy requirement is low, the modelless control is used. (4) For the demand of AUV fixed-depth suspension, a fixed-depth levitation test was carried out based on variable buoyancy system. Using a control method without model feedback, a three-meter-deep and a 10-meter-deep lake test was performed to verify that the test error meets the engineering requirements. At the same time, a comparison was made between the power consumption determined by the variable buoyancy system depth setting and the depth setting by the depth of the vertical slot thruster. The data support the variable buoyancy system to meet the requirements of energy saving. (5) AUV underwater landing test based on variable buoyancy system for AUV fixed-point observations . Two underwater landing test schemes were proposed: one is control buoyancy vertical diving, and the other is to sailing landing and then control buoyancy vertical diving. In the test, the actual navigation verification was carried out for each of the two schemes. Through comparative analysis, it was concluded that the second scheme was more in line with the requirements. At the same time, The underwater sitting time of the currently designed variable buoyancy system was tested on the lake with the longest underwater sitting time of 5 days.
语种	中文
产权排序	1
页码	73页
内容类型	学位论文
源URL	[http://ir.sia.cn/handle/173321/21762]
专题	海洋机器人卓越创新中心
推荐引用方式 GB/T 7714	孙庆刚,陈俊. 基于状态观测的AUV浮力调节方法和应用技术研究[D]. 沈阳. 中国科学院沈阳自动化研究所. 2018.