基于垂向推进方式的AUV低速近底稳定航行

doi:10.13973/j.cnki.robot.2016.0588

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郑荣, 马艳彤, 张斌, 韩晓军, 安家玉. 基于垂向推进方式的AUV低速近底稳定航行[J]. 机器人, 2016, 38(5): 588-592.DOI: 10.13973/j.cnki.robot.2016.0588. ZHENG Rong, MA Yantong, ZHANG Bin, HAN Xiaojun, AN Jiayu. Stable Control for AUV's Near-bottom and Low-speed Sailing Based on Vertical Thruster. ROBOT, 2016, 38(5): 588-592. DOI: 10.13973/j.cnki.robot.2016.0588.

摘要针对低速状态下自治水下机器人（AUV）翼舵力不足的问题，提出了一种基于垂向推进方式的AUV低速近底稳定航行控制方案．基于航速因素，对比分析了翼舵和垂向推进器的推力特性，设计艏艉槽道垂向推进器布置方案．在此基础上通过改进PID（比例-积分-微分）控制策略，优化参数完成垂向运动控制．最后利用某型AUV进行湖上试验，对比翼舵推进方式，得出垂向推进器驱动方式具有更好的低速状态下近底定高航行操控性，实现了控制航行体高度均方差在0.1m、纵倾均方差在0.5°以下的稳定航行．

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关键词 ：自治水下机器人, 垂向槽道推进器, 近底定高航行, PID控制算法

Abstract：For the problem of insufficient flap rudder force of autonomous underwater vehicle (AUV) when navigating at low speed, a low-speed near-bottom stable control navigation scheme based on vertical thruster is presented. Based on the navigating speed, the thrust characteristics of the flap rudder and vector propeller are analyzed comparatively. Then the layout scheme of vertical thruster units in fore and aft grooves is designed. And AUV vertical motion control can be achieved by tuning PID (proportional-integral-derivative) parameters and optimizing control strategy. Finally, a large number of lake trials show that the vertical thruster can achieve better near-bottom fixed-depth sailing controllability at low speed compared with flap rudder thruster, and the vehicle can realize stable navigation with mean square errors of height within 0.1 m and pitch within 0.5°.

Key words： autonomous underwater vehicle vertical groove thruster near-bottom fixed-depth sailing PID (proportional-integral-derivative) control algorithm

收稿日期: 2016-04-19 录用日期: 2016-06-24

ZTFLH:

TP242

基金资助:国家863计划（2015AA2162）

通讯作者: 马艳彤，mayantong@sia.cn E-mail: mayantong@sia.cn

作者简介: 郑荣（1963-），男，博士，研究员．研究领域：自主水下机器人总体技术．
马艳彤（1990-），女，硕士生．研究领域：水下机器人控制技术．
张斌（1982-），男，硕士，副研究员．研究领域：AUV结构设计．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0588 或 https://robot.sia.cn/CN/Y2016/V38/I5/588

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