Abstract
Accurate modeling and simulation of autonomous underwater vehicle (AUV) is essential for autonomous control and maneuverability research. In this paper, a mini AUV- “MAUV-II” was researched and the nonlinear mathematic model of the AUV in spatial motion was derived based on momentum theorem. The forces acting on AUV were resolved to several modules which were expressed in matrix form. Based on the motion model and combined with virtual reality technology, a motion simulation system was constructed. Considering the characteristic of “MAUV-II”, the heading control and depth control were simulated by adopting S-surface control method. A long distance traveling simulation experiment based on target planning was also done. The simulation results show that the “MAUV-II” has good spatial maneuverability, and verify the feasibility and reliability of control software.
摘要
对自主式潜器空间运动进行精确建模和仿真对研究其操纵和控制特性有重要意义, 本文以开发的“MAUV-”II微小型潜器为对象, 基于动量定理和动量矩定理建立了潜器空间运动的非线性数学模型, 将潜器受力分解为各个模块并表达为矩阵形式. 在运动非线性数学模型的基础上, 结合虚拟现实技术建立了运动仿真系统, 针对所研究潜器的特点, 采用S面控制方法对此“MAUV-”II水下运动的艏向控制和深度控制进行了仿真研究, 同时进行了基于目标规划的长距离航行仿真试验. 仿真结果反映了潜器具有较好的空间操纵性能, 也验证了控制软件的可行性和可靠性.
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Foundation item: Supported by National Natural Science Foundation under Grant No. 50879014.
WANG Bo was born in 1982. He received his M.S. degree in the Design and Construction of Naval Architecture from Harbin Engineering University in 2008. Now he works toward his PhD degree in the Design and Construction of Naval Architecture at Harbin Engineering University. His research interests include control and simulation of underwater vehicles.
WAN Lei was born in 1964. He is a professor in school of Shipbuilding Engineering, Harbin Engineering University. His main researches include motion control and navigation of underwater vehicle, etc.
XU Yu-ru was born in 1942. He is the subject leader of Naval Architecture and Ocean Engineering, the national key discipline of Harbin Engineering University. For more than 30 years, he managed and fulfilled many creative Engineering research projects, especially for the fast development technology of autonomous underwater vehicle of our country. He has made important contributions to the system simulation, intelligent control architecture, system integration and so on in this field. He was elected as the member of Chinese Academy of Engineering in 2003.
QIN Zai-bai was born in 1953. He is a senior engineer in school of Shipbuilding Engineering,Harbin Engineering University. His current research interests include design of experimefacilities of underwater vehicles.
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Wang, B., Wan, L., Xu, Yr. et al. Modeling and simulation of a mini AUV in spatial motion. J. Marine. Sci. Appl. 8, 7–12 (2009). https://doi.org/10.1007/s11804-009-8054-8
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DOI: https://doi.org/10.1007/s11804-009-8054-8