【作者】 李贤成；

【导师】 许文海；

【作者基本信息】 大连海事大学 ， 信息与通信工程， 2009， 硕士

【摘要】 为了探索水下资源、监测水下环境,水下勘测平台的研究正越来越受到关注。众所周知,因为而水下环境变幻莫测,水下航行一直就是一个危险的领域。伴随着水下测量技术、水下通信技术以及潜水器制造技术的发展,无人潜水器(Unmanned Underwater Vehicle,UUV)开始应用在水下勘测平台上。同时,自动控制技术以及信息技术的长足进步又使得无人潜水器的运动控制开始朝着自动化的方向发展。潜水器的运动控制系统首先需要使用传感器技术以及水下测量技术对水下多变环境以及自身状态进行正确判断,然后结合适当的算法操作潜水器的动力系统,从而对潜水器的各种非正常状态进行修正,使得无人潜水器按照设计的要求准确、高效地完成既定任务。本课题所涉及的潜水器由五个子系统组成:运动控制系统、主动避碰系统、定深及姿态控制系统、信息系统、水声通信系统。本课题以该潜水器为依托,将当前流行的数字信号处理器(Digital Signal Processor,DSP)处理系统应用在潜水器运动控制系统上。系统借助电罗经、水下定位装置提供状态信息,以直流永磁电机提供动力,通过适当的自动控制算法来对无人潜水器进行控制,最终使整个运动控制系统达到高效性、稳定性、以及控制效果的优良性。本文首先介绍当前无人潜水器的研究现状以及研究前景,然后对本课题所针对的潜水器进行分析,紧接着详细介绍了课题所采用的控制算法的原理以及整个潜水器运动控制系统的硬件系统、软件系统的设计过程与方法。最后针对实际潜水器的特点介绍了整个实验过程以实验结果的分析,包括陆地模拟实验和实际潜水器实验。本课题对于设计的项目的完成以及未来水下勘测的发展有一定的实际意义。更多还原

【Abstract】 Submarine resources exploration and environmental monitoring is becoming more and more significant for mankind,which promoted the research of underwater survey platform.However,the changeable underwater environment leads to the high-risk feature of underwater operation.Along with the development of underwater measurement technology,UUV(Unmanned Underwater Vehicle) is being used in the underwater survey platform.At the same time,the considerable progress of automatic control technology and information technology accelerated the development of UUV.The motion control system of underwater vehicle firstly requires the correct judgment of the changeable underwater environment and the state of itself,which is relied on the sensor and underwater measurement techniques.And then the system adapts the non-normal states with appropriate algorithm to complete the mission correctly and efficiently at last.This subject is concentrated on the research of motion control system and motion control algorithm which is based on a specific underwater vehicle.The whole control system of this vehicle is composed of movement control system,active collision avoidance system,depth keep and posture control system,information system and underwater acoustic communication system.The prevalent DSP(Digital Signal Processor) system was used in this motion control system.Receiving the heading direction information from gyro compass and the location information from underwater location instrument,and through the appropriate algorithm,the motion control system can adjust the three DC permanent magnet motors to appropriate output.In consequence,the whole motion control system can implement desired efficiency and stability,as well as the efficient control.This paper firstly introduces the research status and research prospects of UUV, and analyzes the specific underwater vehicle of this subject.And then introduces the design method and procedure of the hardware and software systems of the vehicle in details.The last part of the paper is the introduction of simulation and experimental methods and results,including the result analysis land-based simulation experiment and vehicle experiment.This research has considerably practical significance in the relational project and the development of underwater survey in the future.更多还原