自治型水下环保机器人运动控制系统的仿真研究

【作者】 刘玉民；

【导师】 丁怀东；

【作者基本信息】 昆明理工大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 中国幅员辽阔，湖泊众多。淡水湖内蕴藏了丰富的生物资源和淡水资源。但是，现在许多湖泊都遭受了不同程度污染，损害了人类的健康。为了采取适当的方法对其进行开发和保护，我们必须对这些湖泊进行水质勘察。这促使人们开发无人水下环保机器人对水域进行勘察和监测。 本文首先对自治型水下环保机器人的结构方案作了简要的介绍，然后重点讨论了水下环保机器人的运动控制系统以及利用动态规划方法进行实时的路径规划，最后对总的运动控制系统进行了计算机仿真。后面三个部分是研究重点。 这里，自治型水下环保机器人具有三个自由度，分别称为推进、升沉和转首。水下机器人本身的非线性以及其操作环境的非线性使得水下机器人的控制问题对控制工程师来说一直是一件富有挑战性的工作。我们采用PID控制和模糊决策来共同实现其运动轨迹控制。这里，水下机器人具有三个推进器，两个水平推进器用来完成推进和转首动作，一个垂直推进器用来完成升沉动作。此外，因为具有了路径规划能力，水下机器人能够自治式绕过障碍物。 我们成功地对水下环保机器人的运动控制系统进行了仿真。仿真结果证明了我们提出的运动控制系统具有良好的性能。更多还原

【Abstract】 China is a country with a vast territory and extensive lake land. These freshwater lakes contain vast biological and freshwater resources. But, many of them are polluted to various degrees now, and do great harm to human’ s health. So the water quality of them must be investigated and understood so that they can be wisely developed and properly protected. This fact promotes the development of unmanned underwater vehicles for inspection and monitoring of the freshwater lake environment.In this paper, we give a brief introduction to the structure of an autonomous underwater vehicle (AUV) for environmental protection firstly, secondly we discuss the control system of the AUV, thirdly discusses the way of real-time path planning for AUV by dynamic programming, finally we simulate the proposed control system and the path planning method by means of computer and give the simulation results of it. The last three parts are the main work of the research.This AUV for environmental protection has three degrees of freedom, called surge, heave and yaw. The control of AUV has been a challenge to control engineer due to combined non-linear nature of both the vehicle itself and the environment in which they operate. We use PID control and fuzzy decision to fulfill the motion trajectory control. This AUV are designed to have three thrusters, two horizontal thrusters are used to surge and yaw, one vertical thruster is used to heave. With the help of path planning, the AUV can avoid the obstacle autonomously.The control system of the AUV for environmental protection has been successfully simulated. The simulation results demonstrate the good performance of the proposed control system.更多还原