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Application Study on Compact Autonomous Underwater Vehicle

紧凑型自主水下航行器应用研究

基本信息

批准号：
14550254
负责人：
NAGASHIMA Yutaka
金额：
$ 2.3万
依托单位：
Sasebo National College of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2002
资助国家：
日本
起止时间：
2002 至 2003
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550254/
关键词：
AUV Autonomous navigation PID control Fuzzy control Neural network control VARIVEC Propeller Positioning system SSBL : Super Short Base-Line 無響水槽音響測位システム SSBL 閉鎖性海域ニューラルネットワーク衝突防止ソナー CPLD素子遺伝的アルゴリズム

项目摘要

A compact AUV(Autonomous Underwater Vehicle) is capable of performing several challenging functions and enables it to be used by a limited number of persons. Usually underwater vehicles are equipped with many thrusters. The thruster control mechanism is complicated and this takes a larger weight ratio, making the AUV larger and heavier. We developed a compact and light AUV by employing one VARIVEC propeller. The VARIVEC propeller system is configured utilizing the radio control helicopter elements, which are swash plate and DC servos. VARIVEC propeller can generate six components including thrust, lateral force and moment by changing periodically the blade angle of the propeller during one revolution. In this control system, we have implemented three modules, which include : Receiver control module: This module controls the reception of the mission command from support vessel and the transponder for positioning system. Sensor control module: This module controls the various sensors data acquisition for autonomous navigation. Propeller control module : This module controls the final decision of mission command and generates the control data for VARIVEC propeller system using the programmable logic device circuits. Each module utilizes one-chip microcomputer (Hitachi SH-2) as the distributed control system for the AUV. We have used the electronic compass, collision avoidance sonar, depth sensor and GPS receiver for autonomous navigation. The AUV also can communicate with the support team at the surface of the sea via NTT DoCoMo's DOPA network. We have implemented fuzzy and neural network program as a soft computing controller. Furthermore, we designed the PID controller in order to investigate the navigation ability of the AUV. To evaluate the compact AUV, we have carried out the autonomous navigation experiments in the shallow sea. Experimental results using soft computing are indicated the effectiveness of our approach and the AUV could move along the target path.

紧凑型 AUV（自主水下航行器）能够执行多种具有挑战性的功能，并且只能由有限数量的人员使用。通常水下航行器配备有许多推进器。推进器控制机构复杂，重量比较大，使得AUV体积更大、重量更大。我们采用 VARIVEC 螺旋桨开发了一款紧凑、轻型的 AUV。 VARIVEC 螺旋桨系统利用无线电控制直升机元件（斜盘和直流伺服系统）进行配置。 VARIVEC螺旋桨通过在一转中周期性地改变螺旋桨的叶片角度，可以产生包括推力、侧向力和力矩在内的六个分量。在这个控制系统中，我们实现了三个模块，其中包括：接收器控制模块：该模块控制来自支援船的任务命令的接收和定位系统的应答器。传感器控制模块：该模块控制自主导航的各种传感器数据采集。螺旋桨控制模块：该模块控制任务命令的最终决策，并使用可编程逻辑器件电路生成 VARIVEC 螺旋桨系统的控制数据。各模块均采用单片机（日立SH-2）作为AUV的集散控制系统。我们使用电子罗盘、防撞声纳、深度传感器和GPS接收器进行自主导航。 AUV 还可以通过 NTT DoCoMo 的 DOPA 网络与海面的支持团队进行通信。我们已经实现了模糊和神经网络程序作为软计算控制器。此外，我们设计了PID控制器来研究AUV的导航能力。为了评估紧凑型AUV，我们在浅海开展了自主导航实验。使用软计算的实验结果表明了我们的方法的有效性，并且 AUV 可以沿着目标路径移动。