| 波浪干扰下的AUV纵向运动建模与模型预测控制 |
| |
| 引用本文： | 杜亮,严卫生,高剑,陈宇航.波浪干扰下的AUV纵向运动建模与模型预测控制[J].系统仿真学报,2012,24(6):1180-1184. |
| |
| 作者姓名： | 杜亮 严卫生 高剑 陈宇航 |
| |
| 作者单位： | 西北工业大学航海学院,西安,710072 |
| |
| 摘 要： | 针对近水面航行的AUV,研究了其波浪影响下定深控制问题。基于弗劳德—克雷洛夫假设(Froude-Krylov Hypothesis),采用切片理论计算AUV近水面运动中受到的随机波浪干扰力和力矩,并以此作为扰动项建立随机波浪作用下AUV纵向运动的线性化数学模型。采用模型预测控制方法进行仿真研究,使AUV的航行深度和俯仰角达到期望值。仿真结果表明:该方法能够有效提高AUV近水面航行过程中的抗波浪干扰能力,系统具有良好的动态性能。
|
| 关 键 词： | AUV 近水面 波浪力 模型预测控制 |
Modeling and Model Predictive Control of AUV Longitudinal Motion under Wave Disturbances |
| |
| DU Liang,YAN Wei-sheng,GAO Jian,CHEN Yu-hang.Modeling and Model Predictive Control of AUV Longitudinal Motion under Wave Disturbances[J].Journal of System Simulation,2012,24(6):1180-1184. |
| |
| Authors: | DU Liang YAN Wei-sheng GAO Jian CHEN Yu-hang |
| |
| Institution: | (College of Marine Engineering,Northwestern Polytechnical University,Xi’an 710072,China) |
| |
| Abstract: | The problem of the depth control effected by the wave force was studied regarding of the near-surface-sailing AUV.Based on the Froude-Krylov Hypothesis,the random wave fore and moment were calculated by the strip theory and added to the equations of AUV as well.Under this circumstance,the linear vertical plane model of AUV was built.Simulations were made by the use of the MPC theory to satisfy the depth and pitch angle with their desired values.The simulation results show that by using the MPC theory,the controller has an obvious effect on overcoming the interference of the waves.The system has good dynamic performance. |
| |
| Keywords: | autonomous underwater vehicle near surface wave force model predictive control |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
