欠驱动AUV水平面动力定位控制方法研究

Research on Horizontal Dynamic Positioning Control Method of Underactuated AUV

摘要:

以欠驱动自主水下机器人(Autonomous Underwater Vehicle，AUV)为试验平台，提出了一种水平面动力定位控制方法。根据自研 AUV 平台的运动执行机构配置，针对其欠驱动特性设计运动控制器，控制纵向推力与转艏力矩，经过路径跟踪与区域镇定两个阶段，使航行器先沿预设路径快速接近目标点，再低速逐渐调整水平位置，最终在该点附近小范围内保持悬停。结合试验数据证明：航行器可抵达并稳定在目标点附近 2 m 范围内，并且在受到外力扰动偏离后能够重新返回，从而验证该动力定位控制方法的有效性。

关键词:控制科学与技术;自主水下机器人;欠驱动系统;动力定位

Abstract:

In this paper， a new method for horizontal dynamic positioning control of underactuated Autonomous Underwater Vehicle(AUV)is proposed. According to the actuating mechanism configuration of the self-developed AUV platform，a motion controller has been designed to adjust the longitudinal thrust and bow torque. After two stages of path tracking and zone stabilization，the AUV fast approaches the target point along the preset path first，then gradually adjusts the horizontal position at low speed，and finally keeps hovering in a small range near the point. Combined with the experimental data，it has been proved that the AUV can reach and stabilize within 2 meters near the target point，and can return after being deviated by the external force disturbance，thus verifying the effectiveness of the dynamic positioning control strategy.

Key words:control science and technology;AUV;underactuated system;dynamic positioning