四旋翼水下机器人及其矢量角度测试实验分析

为提高水下机器人运行稳定性，降低综合能耗，研究一种矢量推进式四旋翼水下机器人，该机器人的四个水下推进器通过绕OY轴转动，形成矢量推进。针对数据野点问题，以及D/A模块输出误差问题，通过设计一种控制电压闭环缓变调节方法，防止因野点存在而烧毁舵机和推进器，同时减小方差，提高稳定性；通过试验法研究了矢量角度对水下机器人控制性能的影响规律。结果表明：矢量角度小于45°时，艏向定值跟踪实验中，响应速度较快，超调量较大，稳态误差较高，平均功耗较低；同频率艏向动态跟踪实验中，平均误差较高，平均功耗较低；变频率艏向动态跟踪实验中，平均功耗较低；深度定值跟踪实验中，响应速度较慢，超调量较小，稳态误差较低，平均功耗较高，同频率深度动态跟踪实验中，平均误差较低，平均功耗较高；变频率深度动态跟踪实验中，平均功耗较高。矢量角度大于55°时，各项控制性能指标与矢量角度小于45°时相反。可见矢量角度为45~55°时，为控制性能过渡区间。

Experimental Analysis on Quadrotor Underwater Robot and Its Vector Angle Test

In order to improve the operation stability of underwater robot and reduce the comprehensive energy consumption, a vector propulsion quadrotor underwater robot was studied. The four underwater thrusters of the robot rotated around the OY axis to form vector propulsion. Aiming at the problem of data outliers and output errors of D/A module, A closed-loop slow-varying adjustment method of control voltage was designed to avoid burning steering gear and propeller due to outliers, reduce variance and improve the stability; The experimental method was used to investigate the influence of the vector angle on the control performance of the underwater robot. The results show that when the vector angle is less than 45 degrees, the response speed is faster, the overshoot is larger, the steady-state error is higher and the average power is lower in the heading fixed value tracking experiment. In heading dynamic tracking experiment at the same frequency, the average error is higher and the average power is lower. In heading dynamic tracking experiment at the variable frequency, the average power consumption is low. In the depth fixed value tracking experiment, the response speed is slow, the overshoot is small, the steady-state error is low, and the average power is high. In depth dynamic tracking experiment at the same frequency, the average error is low, and the average power is high. In depth dynamic tracking experiment at the variable frequency, the average power is high. When the vector angle is greater than 55 degrees, the control performance indicators are opposite to those when the vector angle is less than 45 degrees. It is concluded that when the vector angle is 45 degrees to 55 degrees, it is the transition interval of control performance.