基于双闭环的矢量推进器的AUV转向控制方法

水下无人自航行器(autonomous underwater vehicle,AUV)在对海洋环境进行勘查与测量时,实际航迹与目标航迹的偏差要求控制在一定精度范围内.在传统常采用的航向单闭环方法控制下,基于矢量推进器的AUV在高速转向时存在航迹跟踪效果差的缺点.针对这一问题,设计了一种双闭环自适应转向运动控制方法.该方法基于矢量推进器机动性强的特性,在AUV转向时将航向控制闭环和航速控制闭环设计成双闭环,调整航向的同时依据航向环偏航角差实时控制航速环AUV转向目标速度.理论分析和实验证明:在AUV转向时,该控制算法可以更好地实现航迹跟踪,实际航行轨迹与目标航迹的最大偏差可以控制在10,m以内.

Steering Control Strategy of AUV with Vectored Thruster Based on Double-Loop Mode

Autonomous underwater vehicle （AUV）should have the ability to control the deviation of the actual navi-gation trajectory and target track within a limited range when surveying the seabed. Based on a lot of AUV runningexperiments in the past, it is known that with the traditional PID control method, AUV often has such shortcomingsas large steering deviation and long-time navigation when turning along the target track. So according to AUV steeringcharacteristics, this paper proposes a new method of adaptive double-loop PID. This method is based on the low-speed steering characteristic of vectored thruster. It can adjust the AUV speed according to different yaw angles in realtime when AUV turns the rudder angle. Theoretical analysis and experiments show that this method can effectivelysettle the problems of large steering deviation and long-time navigation when AUV turns along the target track. Themaximum deviation of the actual navigation trajectory and target track can be controlled within 10 m.