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Horizontal Trajectory Tracking Control of Autonomous Underwater Vehicle Based on Seabed Optical Detection Mission
Authors
郑荣
韩晓军
马艳彤
Publication date
1 January 2017
Publisher
Abstract
针对利用光学探测设备对海底目标探测与搜索的使命,自治水下机器人(AUV)需具备更精确的航行控制性能,为此提出一种不依赖模型的改进型PID控制算法,通过对增设的左右水平推进器进行控制,以实现AUV低速时水平面的精确航行。将整个控制器分为两层:内层为偏航距离PID控制器,将输出量转化为所需偏转角;外层为航向PID控制器,将内层计算结果转化为航向偏差,对其进行PID计算,输出为偏转所需推力和推力矩值。通过对设定探测路线进行路径跟随,以反映水平面航行控制精度。通过湖上试验,得出精确的路径跟随航迹,实现了航向角偏差均值为0.09°、航向距离偏差均方差为0.29 m的航行稳定控制,验证了该控制方法的可行性..
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Institutional Repository of Institute of Automation, CAS
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Last time updated on 12/08/2017
Shenyang Institute of Automation,Chinese Academy Of Sciences
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/20761
Last time updated on 12/02/2018