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Hydrodynamics and Automatic Control of Unmanned Submersible for Underwater Survey

水下勘测无人潜水器水动力及自动控制

基本信息

批准号：
62550326
负责人：
KATO Naomi
金额：
$ 1.34万
依托单位：
Tokai University
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1987
资助国家：
日本
起止时间：
1987 至 1988
项目状态：
已结题

项目摘要

1. New concept of configuration of unmanned, untethered submersible capable of CCV control was propose by using a non-linear optimization method.2. Thedesign was focused on the realization of two types of CCV modes, i.e. (1) a mode with zero pitch angle and vertical speed in the longitudinal direction and (2) a mode with zero roll angle a yaw angle in the lateral direction.3. The designed submersible has an all movable forward horizontal wing, an rear horizontal wing with a pair of rudders rotating simultaneously in the same direction, and upper and lower vertical tails with a pair of rudders rotating independently.4. The maneuver contrl system having a two-layer hierachical structure, mavigation for the upper layer and attitude control for the lower layer, was porposed to keep an altitude and a prearranged course, minimizing the pitching and rolling motions the submersible as long as possible, although a collision avoidance maneuver is taken in the longitudinal direction when the risk of collision is high.5. Fuzzy algorithm was applied to the navigation system (1) to reason the collision risk from the informations of the altitude from the seabed and the distance to forward obstacle obtained from soners, (2) to decide the vertical speed during the altitude-keeping control and the yaw angle during the course-keeping control.6. The maneuver control algorithm was checked by the numerical simulations both in the longitudinal direction where the running over sinusiodal seabeds were tested, and in the lateral direction where a rectangular course was prearranged.7. The simulated results showed that the maneuver control algorithm works well even over a steep slope in the longitudinal direction and with a rapid returning response to a prearranged course in the lateral direction.

1. 采用非线性优化方法，提出了CCV控制无人无系潜器结构的新概念。设计重点是实现两种CCV模式，即(1)纵向零俯仰角零垂直速度模式和(2)横向零滚转角零偏航角模式。所设计的潜水器具有全活动的前水平翼，后水平翼，一对方向舵在同一方向上同时旋转，上下垂直尾翼，一对方向舵独立旋转。该机动控制系统为两层结构，上层为导航，下层为姿态控制，其目的是使潜水器保持高度和预定航向，尽可能长时间地减少俯仰和横摇运动，当发生碰撞的风险较大时，在纵向上进行避碰机动。将模糊算法应用于导航系统(1)根据探测器获得的与海底的高度信息和与前方障碍物的距离信息推断出碰撞风险；(2)确定保持高度控制时的垂直速度和保持航向控制时的偏航角。通过纵向和横向两方面的数值模拟，验证了机动控制算法的正确性。仿真结果表明，该机动控制算法在纵向上能够很好地克服陡坡，在横向上能够快速返回预定路线。