【作者】 郭焱阳；

【导师】 张宏瀚；

【作者基本信息】 哈尔滨工程大学 ， 控制科学与工程， 2020， 硕士

【摘要】 近年来,飞机、潜艇、船只失事频频发生,水下无人航行器(Unmanned Underwater Vehicle,UUV)作为能够有效搜寻海底失事目标的重要工具,越来越受到研究人员的青睐,因此,本文以搜寻海底目标为背景,开展多航行器编队控制方法的研究。本文主要研究两大内容:UUV相对海底的定高航行和编队协调控制。本文的主要研究内容如下:首先,建立惯性坐标系和随体坐标系;根据UUV的运动学特征和动力学特征,在惯性坐标系和随体坐标系中建立UUV的五自由度运动学和动力学模型;根据海底地形的典型特征,构造上坡、下坡、凸形、凹形典型地形的数学模型。其次,针对未知海底地形,提出了一种基于四个单波束声呐海底地形探测方案,通过将声呐采集的数据信息进行滤波去除噪声干扰,得到海底的局部地形特征,然后基于该局部地形特征提出了UUV相对海底定高航行的控制策略,该控制策略将相对海底定高的控制问题转化为相对海平面的变深控制问题。之后设计了可变深度控制器,并对该深度控制器进行鲁棒性分析。最后将提出的控制策略和控制器对上坡、下坡、凸形、凹形典型地形进行仿真实验,验证所提算法的有效性。再次,针对UUV编队协调控制问题,提出了时空解耦的控制结构,将编队控制问题解耦为空间上的路径跟踪问题和时间上的速度协调问题,编队中每个UUV各自运行路径跟踪控制器,确保运动轨迹收敛到给定路径,根据UUV之间交换的状态信息,为编队设计速度协调控制器控制各UUV的纵向速度,以维持稳定的队形。针对UUV的路径跟踪问题,基于反步法分别设计运动学控制律和动力学控制律,并证明了路径跟踪控制器的稳定性。针对水声通信信道窄带宽的特性,提出了一种只交换单变量状态信息的方法,能够有效减少编队中的通信量。针对速度协调问题,根据图论的相关知识建立协调误差模型,设计了编队协调控制器,通过控制路径跟踪中虚拟目标点的速度来实现编队的协调控制。最后,针对环境约束下的UUV编队协调控制开展研究,在UUV的路径跟踪问题中考虑了海流的干扰,在编队成员进行水声通信时考虑了通信的时延。针对路径跟踪中的海流干扰问题,海流速度由海流观测器估计得出。针对编队中通信存在通信时延的问题,提出了一种基于逻辑通信的协调控制策略,UUV通过状态估计器估计自身和其他UUV的状态,当估计值和实际值偏差达到某一阈值,编队中各UUV同步更新状态信息,来实现编队的协调控制。更多还原

【Abstract】 In recent years,aircraft,submarine,and ship accidents have occurred frequently.Unmanned Underwater Vehicle(UUV),as an important tool for effectively searching for underwater accident targets,has become more and more popular with researchers.Under the background of submarine targets,the research of multi-UUV formation control method was carried out.To sum up,this paper mainly achieves two major goals.The first goal is to sail the UUV at a fixed altitude relative to the sea floor,and the second goal is to maintain the formation of the formation in a stable horizontal plane.The main research contents of this paper are as follows: First,establish the inertial coordinate system and satellite coordinate system,and explain the mutual conversion relationship between the two coordinate systems.A five-degreeof-freedom kinematics and dynamics model of UUV was established in the model.According to the typical characteristics of the seafloor terrain,mathematical models of four typical terrains: uphill,downhill,convex and concave.Secondly,for the unknown sea floor terrain,a four-beam sonar sea floor terrain detection scheme is proposed.The data information collected by the sonar is filtered to remove interference to obtain the local terrain features of the sea floor.Then,UUV is proposed based on the local terrain features.The control strategy of sailing at a fixed height relative to the sea floor transforms the problem of controlling the relative height of the sea floor into a variable depth control problem at a relative sea level.Then,a variable depth controller is designed,and a robust analysis of the depth controller is performed.Finally,the proposed control strategy and controller are used to simulate four typical terrains: uphill,downhill,convex and concave,to verify the effectiveness of the proposed algorithm.Third,the UUV formation coordination control problem is decomposed into a spatial path tracking problem and a time speed coordination problem.Each UUV in the formation runs a path tracking controller to ensure that the motion trajectory converges to a given path.The status information exchanged,and a speed coordination controller designed for the formation to control the longitudinal speed of each UUV to maintain a stable formation.Aiming at the UUV path tracking problem,the kinematic path tracking controller and the dynamic path tracking controller are designed based on the backstepping method to realize position and velocity tracking.The stability of the path following controller is proved.In view of the narrow bandwidth of underwater acoustic communication channels,a method of exchanging only univariate state information is proposed,which can effectively reduce the communication volume in formations.Aiming at the problem of speed coordination,a coordination error model was established based on the relevant knowledge of graph theory,and a formation coordination controller was designed to realize the formation coordination control by controlling the speed of the virtual target point in path tracking.Finally,research was conducted on the coordinated control of UUV formations under environmental constraints.The interference of ocean currents was considered in the UUV path tracking problem,and the communication delay was considered when the formation members performed underwater acoustic communication.Aiming at the problem of path tracking under ocean current interference,an ocean current observer is designed to estimate the velocity of an unknown constant current.Aiming at the problem of communication delay in formation,a coordinated control strategy based on logical communication is proposed.The UUV estimates the state of itself and other UUVs through a state estimator.When the deviation between the estimated value and the actual value reaches a certain threshold.Each UUV updates the status information synchronously to achieve coordinated control of the formation.更多还原