【作者】 邢进；

【导师】 徐克宝；

【作者基本信息】 山东科技大学 ， 机械电子工程， 2008， 硕士

【摘要】 水下机器人无论是在军事,还是在人类生产生活中都有广泛应用,而对其良好的运动姿态控制是水下机器人顺利完成任务的重要前提和保障。为了提高水下机器人的运动控制性能,其运动姿态控制技术的研究就成为了一个重要的研究课题。本论文基于国内外水下机器人设计的成功经验,首先建立适合描述水下机器人的坐标系,并在此基础上确定了其空间运动的数学模型。由于实际需要和控制器的设计,又对空间运动数学模型进行了适当简化,建立水平面运动方程和垂直面运动方程。然后分析了水下机器人在水中航行时受到的各种力,力矩以及直流电动机的调速系统和电动机转速与所产生推力大小的关系,并对水下机器人在水平面和垂直面内的运动稳定性进行判定。在以上工作的基础上,阐述了PID控制技术的基本原理和模拟PID调节器以及数字PID调节器,并介绍了两种PID调节器参数选择的方法,然后对水下机器人纵倾角、深度、偏航角三个控制参数运用PID控制器进行了控制,并仿真出它们的响应曲线。而后,又介绍了BP神经网络的有关知识,通过MATLAB工具箱里的一些函数对BP网络的设计,网络的算法实现,网络的训练和仿真进行了详细的叙述,并结合本设计建立了水下机器人的BP网络模型,对模型进行MATLAB仿真。最后,采用PID控制和BP神经网络控制相结合的控制方法,兼顾两者优点设计了一种水下机器人的BP神经网络PID控制器并做出其仿真曲线。经过相应的MATLAB软件仿真,证明了控制器设计的可行性,能较好的控制水下机器人的运动姿态,对后续研究开发有一定的参考意义。更多还原

【Abstract】 Underwater vehicle is widely used whether in military affairs or in human’s production and life. In order to complete its missions successfully, the important precondition and guarantee is good kinetic control. For improving the kinetic control performance of underwater vehicle, the study of kinetic control technique has been an important subject.This thesis depends on the successful experience in designing underwater vehicles all over the world, established system of axes which can describe underwater vehicle properly firstly, then defined its space motion mathematic model. For actual requirement and the design of controller, the thesis simplified the space motion mathematic model and established horizontal kinetic equation and vertical kinetic equation, analyzed various forces, force moments etc and the relationship among speed governing system of direct current electromotor, motor speed and propulsive force when underwater vehicle was sailing in the sea, given determinations on kinetic stability of horizon plane and vertical plane.Based on the work above, this thesis represented the rationale of PID control technique, analog PID controller and digital PID controller, introduced the methods of parameters selection of the two PID controllers above, controlled trim angle, yaw angle and depth using of PID controllers and emulated their response curves.As the following, this thesis introduced the knowledge of BP neural network, described in detail the designing of BP network by some functions in MATLAB tool box, algorithm implementation of network, training and emulation of network, what’s more, built BP neural network model of underwater vehicle and simulated the model under MATLAB.At last, used the control mode which PID control technique combining BP neural network technique, fused their merits, this thesis designed a BP neural network PID controller of underwater vehicle and made the emulator curves. The controller design is proved to be feasible after MATLAB emulation, it can control underwater vehicle’s kinetic attitude well. As far as research and exploitation later, this has some definite referenced meaning.更多还原