水下机器人桨鳍协同推进姿态控制
2024,46(6):184-193
夏明海
国防科技大学 智能科学学院, 湖南 长沙 410073，xiaminghai@nudt.edu.cn,luozirong@nudt.edu.cn
尚建忠
国防科技大学 智能科学学院, 湖南 长沙 410073
殷谦
长沙理工大学 能源与动力工程学院, 湖南 长沙 410076
曾潇丰
国防科技大学 智能科学学院, 湖南 长沙 410073
徐毓泽
国防科技大学 智能科学学院, 湖南 长沙 410073
罗自荣
国防科技大学 智能科学学院, 湖南 长沙 410073，xiaminghai@nudt.edu.cn,luozirong@nudt.edu.cn
国防科技大学 智能科学学院, 湖南 长沙 410073，xiaminghai@nudt.edu.cn,luozirong@nudt.edu.cn
尚建忠
国防科技大学 智能科学学院, 湖南 长沙 410073
殷谦
长沙理工大学 能源与动力工程学院, 湖南 长沙 410076
曾潇丰
国防科技大学 智能科学学院, 湖南 长沙 410073
徐毓泽
国防科技大学 智能科学学院, 湖南 长沙 410073
罗自荣
国防科技大学 智能科学学院, 湖南 长沙 410073，xiaminghai@nudt.edu.cn,luozirong@nudt.edu.cn
摘要：
为提高水下机器人的机动性与稳定性,提出一种四旋翼波动鳍混合驱动的新型水下机器人及其姿态控制算法。建立了机器人桨鳍协同推进的运动学与动力学模型,通过流体数值仿真,获取了水动力系数,构建了机器人六自由度动力方程。提出螺旋桨与波动鳍协同推进的姿态控制策略,设计了一种四自由度串级比例-积分-微分控制器与控制分配算法。在MATLAB/Simulink中建立了仿真模型,仿真分析了机器人定深前进、升沉运动、原地转向中的机器人位姿曲线,以及随机干扰对姿态控制的影响。实验结果证明,机器人具备良好的姿态控制性能,最大推进频率下样机运动姿态角波动误差小于±4°,深度波动误差小于±5 cm。仿真及实验结果验证了所设计的水下机器人与桨鳍协同推进的姿态控制算法的可行性。
为提高水下机器人的机动性与稳定性,提出一种四旋翼波动鳍混合驱动的新型水下机器人及其姿态控制算法。建立了机器人桨鳍协同推进的运动学与动力学模型,通过流体数值仿真,获取了水动力系数,构建了机器人六自由度动力方程。提出螺旋桨与波动鳍协同推进的姿态控制策略,设计了一种四自由度串级比例-积分-微分控制器与控制分配算法。在MATLAB/Simulink中建立了仿真模型,仿真分析了机器人定深前进、升沉运动、原地转向中的机器人位姿曲线,以及随机干扰对姿态控制的影响。实验结果证明,机器人具备良好的姿态控制性能,最大推进频率下样机运动姿态角波动误差小于±4°,深度波动误差小于±5 cm。仿真及实验结果验证了所设计的水下机器人与桨鳍协同推进的姿态控制算法的可行性。
基金项目：
国家自然科学基金面上资助项目(52075537)；国家自然科学基金青年科学基金资助项目(52105289)
国家自然科学基金面上资助项目(52075537)；国家自然科学基金青年科学基金资助项目(52105289)
Attitude control of propeller-fin cooperative propulsion for underwater robot
XIA Minghai
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China,xiaminghai@nudt.edu.cn,luozirong@nudt.edu.cn
SHANG Jianzhong
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
YIN Qian
College of Energy and Power Engineering, Changsha University of Science & Technology, Changsha 410076, China
ZENG Xiaofeng
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
XU Yuze
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
LUO Zirong
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China,xiaminghai@nudt.edu.cn,luozirong@nudt.edu.cn
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China,xiaminghai@nudt.edu.cn,luozirong@nudt.edu.cn
SHANG Jianzhong
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
YIN Qian
College of Energy and Power Engineering, Changsha University of Science & Technology, Changsha 410076, China
ZENG Xiaofeng
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
XU Yuze
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
LUO Zirong
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China,xiaminghai@nudt.edu.cn,luozirong@nudt.edu.cn
Abstract：
In order to improve the maneuverability and stability of underwater robots, a novel underwater robot driven by quadrotor and undulating fin was developed and its attitude control algorithm was proposed. The kinematics and dynamics model of cooperative propulsion by the propellers and the fin was established. The resistance coefficient was obtained by fluid numerical simulation. And the six-degree-of-freedom dynamic model of the robot was constructed. The attitude control strategy using hybrid drive of propellers and fin was proposed. A four degrees of freedom cascade proportional-integral-derivative controller and a control allocation algorithm were designed. The simulation model was established in MATLAB/Simulink software, in which pose curves in fixed depth cruise motion, heave motion and pivot steering motion were simulated and analysed. In addition, the influence of random interference on attitude control was simulated. Experimental results show that the robot has good attitude control performance. At the maximum undulating frequency, the attitude angle error of the prototype is less than ±4°; and the depth error is less than ±5 cm. The simulation and experimental results verify the feasibility of the novel underwater robot and the attitude control algorithm of propeller-fin cooperative propulsion.
In order to improve the maneuverability and stability of underwater robots, a novel underwater robot driven by quadrotor and undulating fin was developed and its attitude control algorithm was proposed. The kinematics and dynamics model of cooperative propulsion by the propellers and the fin was established. The resistance coefficient was obtained by fluid numerical simulation. And the six-degree-of-freedom dynamic model of the robot was constructed. The attitude control strategy using hybrid drive of propellers and fin was proposed. A four degrees of freedom cascade proportional-integral-derivative controller and a control allocation algorithm were designed. The simulation model was established in MATLAB/Simulink software, in which pose curves in fixed depth cruise motion, heave motion and pivot steering motion were simulated and analysed. In addition, the influence of random interference on attitude control was simulated. Experimental results show that the robot has good attitude control performance. At the maximum undulating frequency, the attitude angle error of the prototype is less than ±4°; and the depth error is less than ±5 cm. The simulation and experimental results verify the feasibility of the novel underwater robot and the attitude control algorithm of propeller-fin cooperative propulsion.
收稿日期：
2022-06-08
2022-06-08
