水下无人平台载荷释放过程中的姿态镇定控制

doi:10.1007/s12204-023-2598-7

J Shanghai Jiaotong Univ Sci ›› 2024, Vol. 29 ›› Issue (5): 766-772.doi: 10.1007/s12204-023-2598-7

水下无人平台载荷释放过程中的姿态镇定控制

邓旭a，冯正平a, b，何晨璐a，崔振华a

（上海交通大学 a船舶海洋与建筑工程学院；b 海洋工程重点实验室，上海200240）

接受日期:2022-02-17 出版日期:2024-09-28 发布日期:2024-09-28

Attitude Stabilization of Unmanned Underwater Vehicle During Payloads Release

DENG Xu^a (邓旭), FENG Zhengping^a,b∗ (冯正平)，HE Chenlu^a (何晨璐)，CUI Zhenhua^a (崔振华)

(a. School of Naval Architecture, Ocean and Civil Engineering; b. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China)

Accepted:2022-02-17 Online:2024-09-28 Published:2024-09-28

摘要/Abstract

摘要： 大型的水下无人平台可以携带大的无人载荷执行多样的任务，同时希望在释放载荷后自身仍能保持竖直状态。然而在载荷释放之后，其自身姿态很难保持不变。从本体上释放载荷不但会引起刚体参数的不确定度变化，如由于质量分布改变引起的转动惯量的变化，而且还会因为几何外形的变化引起水动力参数的不确定度改变。本文提出了一种对上述模型不确定度具有鲁棒性的非线性姿态镇定控制器。其稳定性可以通过李雅普诺夫稳定性理论证明。仿真结果验证了该方法的有效性。

关键词: 水下无人平台, 载荷释放, 姿态镇定, 李雅普诺夫稳定性

Abstract: Large unmanned underwater vehicles can carry big payloads for varied missions and it is desirable for them to possess an upright orientation during payload release. Their attitude can hardly be maintained during and after the phase of payload release. Releasing a payload from the vehicle induces uncertainties not only in rigid-body parameters, e.g, the moment of inertia tensor due to the varying distribution of the masses on board the vehicle, but also in the hydrodynamic derivatives due to the vehicle’s varying geometric profile. A nonlinear attitude stabilizer that is robust to these time-varying model uncertainties is proposed in this paper. Stability is guaranteed via Lyapunov stability theory. The simulation results verify the effectiveness of the proposed approach.

中图分类号:

TP 273

邓旭a, 冯正平a, b, 何晨璐a, 崔振华a. 水下无人平台载荷释放过程中的姿态镇定控制[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(5): 766-772.

DENG Xu^a (邓旭), FENG Zhengping^{a, b∗} (冯正平), HE Chenlu^a (何晨璐), CUI Zhenhua^a (崔振华). Attitude Stabilization of Unmanned Underwater Vehicle During Payloads Release[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(5): 766-772.

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水下无人平台载荷释放过程中的姿态镇定控制

Attitude Stabilization of Unmanned Underwater Vehicle During Payloads Release

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