| 水下机器人抗波浪扰动动力定位研究 |
| |
| 引用本文： | 刘慧婷,张明,曾庆军,眭翔,宋振文.水下机器人抗波浪扰动动力定位研究[J].应用声学,2016,24(1):199-203. |
| |
| 作者姓名： | 刘慧婷 张明 曾庆军 眭翔 宋振文 |
| |
| 作者单位： | 江苏科技大学电子信息学院,江苏科技大学电子信息学院,江苏科技大学电子信息学院,常州信息职业技术学院机电工程学院,江苏科技大学计算机科学与工程学院 |
| |
| 基金项目： | 江苏省产学研前瞻性联合研究项目(BY2012181)；江苏科技大学海洋装备研究院2015年科研项目A类 |
| |
| 摘 要： | 针对水下机器人近水面运动受到波浪干扰而产生的不确定性问题,结合所研制的新型海洋工程模态切换机器人MC-ROV,文章基于CFD法建立动力学模型,进行6DOF动力定位分析。根据定位误差设计力和力矩分配策略,采用非奇异终端滑膜控制(NTSM)对推力予以补偿,以减小由波浪等随机带来的影响,并采用无味卡尔曼(UKF)实时估计水下机器人的状态。仿真结果表明,该方法具有良好的动力定位效果,并且在受扰动后可以迅速调整动力分配策略,减小其带来的负面影响。
|
| 关 键 词： | 水下机器人 动力定位 扰动 非奇异终端滑动模型 无味卡尔曼 |
| 收稿时间： | 7/3/2015 12:00:00 AM |
| 修稿时间： | 9/6/2015 12:00:00 AM |
Research on Dynamic Positioning of ROV Anti-waves |
| |
| Liu Huiting,Zhang Ming,Zeng Qingjun,Sui Xiang and Song Zhenwen.Research on Dynamic Positioning of ROV Anti-waves[J].Applied Acoustics,2016,24(1):199-203. |
| |
| Authors: | Liu Huiting Zhang Ming Zeng Qingjun Sui Xiang and Song Zhenwen |
| |
| Institution: | School of Electronic and Information,Jiangsu University of Science and Technology,,School of Electronic and Information,Jiangsu University of Science and Technology,School of Mechanical and Electrical Engineering, Changzhou College of Information Technology,School of Computer Science and Engineering,Jiangsu University of Science and Technology |
| |
| Abstract: | In terms of the uncertainties induced by wave disturbances when an underwater vehicle is operated by the surface of water and combined with the novelty Model-Converted Remotely Operated Vehicle (MC-ROV) of ocean engineering, a dynamic model based on CFD is built to analyse 6DOF positioning. A strategy of force and moment allocations is designed according to positioning error, then compensating it with an algorithm known as Non-singular Terminal Sliding Model (NTSM) to low the impact brought by waves likewise. Meanwhile Unscented Kalman Filter (UKF) is utilized to estimate the real-time states of the vehicle. Simulation results present that this algorithm makes the underwater vehicle reach a pre-given position rapidly and effectively, and it can adjust the strategy of force and moment promptly when encounters with perturbations so that reduces the negative effects. |
| |
| Keywords: | remotely operated vehicle dynamic positioning disturbance NTSM UKF |
|
| 点击此处可从《应用声学》浏览原始摘要信息 |
| 点击此处可从《应用声学》下载免费的PDF全文 |
|
