Research and Application of the Control Systemfor a Portable Autonomous Underwater Vehicle
ZENG Junbao1,2, LI Shuo1, LI Yiping1, WANG Xiaohui1, YAN Shuxue1,2
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
曾俊宝, 李硕, 李一平, 王晓辉, 阎述学. 便携式自主水下机器人控制系统研究与应用[J]. 机器人, 2016, 38(1): 91-97.DOI: 10.13973/j.cnki.robot.2016.0091.
ZENG Junbao, LI Shuo, LI Yiping, WANG Xiaohui, YAN Shuxue. Research and Application of the Control Systemfor a Portable Autonomous Underwater Vehicle. ROBOT, 2016, 38(1): 91-97. DOI: 10.13973/j.cnki.robot.2016.0091.
摘要
针对 50 公斤级便携式自主水下机器人（AUV）的开发和研究，介绍了一种采用多种通信方式的分布式便携式 AUV 控制系统．着重推导和阐述了控制系统中 X 形舵与十字形舵之间的等效关系，并对水平面与垂直面的运动控制方法进行了说明．通过大量湖上和海上试验验证了所述方案和方法的合理性，并得到了满意的实际航行结果．
In order to study and develop a 50 kg portable AUV (autonomous underwater vehicle), a distributed control system with multiple communication modes is presented. The equivalent relationship between X-shaped sternplane and cross sternplane in the control system is derived and explained, and the horizontal and vertical motion control methods are described. Finally, the rationality of the presented control system solution and control method is verified by a large number of lake and sea trials, and a good navigation performance of the portable AUV is shown.
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