极端海况下AUV水环境模拟及定位控制研究

目的优化PID控制器,实现AUV在极端海况下的定位控制。方法本文基于Blendermann风载荷系数计算公式与ITTC双参数波浪谱及漂移力计算公式,在Matlab中建立极端海况风浪模型,对极端海况进行环境模拟;利用Simulink平台搭建基于PID控制器的AUV动力定位控制系统,优化PID控制器参数,对AUV进行定位控制研究。结果在该控制作用下,AUV仍由定位原点顺利抵达目标位置,在PID控制器作用下,系统约100s后达到目标位置状态附近进行微调,整体超调量约8%,在严峻的风浪环境中展现出理想的控制性能。结论本研究成功模拟了AUV的极端工作环境,并搭建了动力定位仿真台架,基于优化后的PID控制器实现了AUV在极端海况下的定位控制,为自主潜航器在恶劣环境中的作业能力保障及控制器设计研究提供了参考。

Water Environment Simulation and Positioning Control of AUV under Extreme Sea Condition

Objective To optimize PID controller and realize positioning control of AUV in extreme sea condition. Methods A wind wave simulation model was set in Matlab based on Blendermann wind load factor computational formula, ITTC two-parameter wave spectrum and drifting force computational formula to simulate the extreme sea condition. A AUV dynamic positioning control system was set based on the PID controller with Simulink platform to research positioning control of AUV. Results The AUV under control successfully reached the targeted position from the positioning origin. It took about 100 seconds for the system to get to the targeted position with only about 8% overstrike, presenting outstanding performance in severe envi-ronment. Conclusion The study successfully simulates the extreme work environment of AUV, sets up a dynamic positioning Simulink frame and realizes positioning control of AUV in extrem sea condition. The study provides guidance for the research of AUV performance and control system design under severe environment.