上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

水下机器人改进S面控制及系统半实物仿真

吕翀，庞永杰，王波，张磊   

  1. （哈尔滨工程大学 水下机器人技术国防科技重点实验室， 哈尔滨 150001）
  • 收稿日期:2009-03-05 修回日期:1900-01-01 出版日期:2010-07-28 发布日期:2010-07-28

Autonomous Underwater Vehicle Improved Surface Controller and Semiphysical Simulation

Lv Chong，PANG Yongjie，WANG Bo，ZHANG Lei   

  1. (State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China)
  • Received:2009-03-05 Revised:1900-01-01 Online:2010-07-28 Published:2010-07-28

摘要： 针对S面控制器参数调整困难的问题，研究了改进的粒子群优化(MPSO) 算法，自寻优确定S面控制器的控制参数，实现了S面控制器参数优化计算的快速收敛，避免了局部峰值的徘徊.同时，针对某水下航行器的运动控制系统，设计了控制半实物仿真系统，阐述了仿真系统的总体结构和水下机器人空间运动的非线性数学模型.仿真结果真实可靠地反映了水下机器人运动过程，验证了本文控制器对机器人的控制效果，对实际下水实验提供重要参考.

关键词: 自主式水下航行器, 改进S面控制, 改进的粒子群优化, 控制系统, 半实物仿真

Abstract: S surface controller is proved to be effective in application to the motion control of autonomous underwater vehicle (AUV). However, it is difficult to adjust the control parameters manually. Choosing the optimum parameters for the controller of a certain AUV is an important problem. Thus, a modified particle swarm optimization (MPSO) algorithm based on immune theory and nonlinear digression strategy of inertia weight was proposed to optimize the control parameters of a certain AUV. A semiphysical simulation system for AUV was presented as a platform to verify the proposed control method. And its structure was described. The simulation results indicate that the semiphysical simulation platform is helpful, the optimization algorithm has good local and global searching abilities, and the control method is feasible in application to AUV.

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