基于变形仿生鳍的机器人减摇控制策略研究
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摘要
海洋资源作为一种人类社会可持续发展的重要物质财富，已经发展成为各国重要的战略目标。同时，作为一种在海洋开发和应用领域的高新技术载体，海洋机器人已受到了越来越多的关注。在海洋机器人的帮助下，我们可以更好的保护地球上的海洋资源，以及有效的利用这些资源来为人类服务。由于工程作业时的实际需要，海洋机器人将不可避免的在水面及近水面操作，因此，对水面、近水面机器人的研究和设计已成为重要的发展方向。
当海洋机器人在近水面低速航行作业时，与处于深海时不同，将受到近水面波浪的干扰。在这些扰动的作用下，机器人将产生摇摆运动，使其姿态平衡受到影响，进而威胁到机器人的工作及安全性能。由于海洋机器人具有航行速度过低、自身形体结构特殊及体积较小等特点，本文提出一种结合仿生学理论及变形鳍技术的新型减摇装置。该装置不仅具有更高的升力产生效率，同时能量消耗较小，适用于海洋机器人近水面低速航行时的姿态控制。
为研究海洋机器人在近水面时的动力学特性，本文首先对机器人6自由度运动模型进行了分析。为简化控制系统的设计及便于对被控对象的分析，将系统方程在平衡点处线性化，建立具有状态空间形式的海洋机器人近水面运动方程。在对机器人外形结构进行简化的基础上，对近水面波浪干扰力及力矩进行理论分析，利用Morison方程建立干扰力的数学模型，并结合数值仿真确定海浪干扰对机器人的深度干扰范围。
利用解耦及线性化方法建立用于横摇减摇控制的海洋机器人横摇运动模型。阐述海洋机器人在近水面低速航行时的横摇减摇原理，结合变结构控制理论、自适应控制理论、反馈线性化方法及非线性跟踪控制理论，设计了三种不同的横摇减摇控制策略。所设计的控制策略解决了在海洋机器人横摇减摇控制中，由于海浪干扰的随机性及变形仿生鳍升力模型非线性所带来的具体控制设计问题。通过理论分析及仿真实验，验证了控制器设计的稳定性及有效性。
进一步，考虑由于水动力参数的不确定性和外界干扰对系统模型的影响，建立海洋机器人横摇、艏摇及横荡相耦合的水平面运动模型。依据舵、鳍联合控制原理，并结合自适应机制及Terminal滑模控制原理，设计针对海洋机器人航向及横摇姿态的综合控制器。建立基于航行阻力及能量消耗的性能指标，利用遗传算法对控制器参数进行优化，实现减摇控制效果及能量消耗的综合最优。理论分析及仿真结果表明，控制器是稳定的，且在保持一定的减摇效果的同时有效减小了系统能量消耗。
As an important sustainable wealth of human society, the ocean resources have become animportant strategy target of all countries. Meanwhile, as a high technology carrier in the fieldof marine resources development and utilization, marine robot has gain more and moreattention. Marine robot can help us better protect the ocean resources of the earth, andefficiently utilize them for human welfare. Due to the actual demand as in engineeringoperations, the research and development of mariner robot operating near surface has becomean important developing direction.
When marine robot traveling near surface with low velocity, it will be disturbed by wave,which is different from the situation in deep ocean. As for the disturbance, the marine robotwill have swing motion which affects the attitude balancing, and then the robot’s security andworking performance will be damaged. Since the limits of robot’s low speed, special form andsmall size, a new kind of roll damping device is presented which is base on the theory ofbionics and deformation technology. This device has higher lift generate efficiency andsmaller energy consumption, which is suitable for attitude controlling of marine robotoperating near surface with low speed.
In order to study the dynamic characteristics of marine robot navigating near surface, therobot’s6freedom motion model is firstly analyzed in this paper. To simplify the design of thecontrol system and facilitate analysis of the plant, the system equations are linearized about amean operating state, and the marine robot linear equations of motion in state form ispresented. Through the theoretical analysis of the near surface wave disturbance and thesimplification of robot’s outer structure, the wave force model is established by usingMorison’s equation, and the interference range is identified with the numerical simulation.
The marine robot roll motion model that is used for roll damping control is established byusing the method of linearization and decoupling. According to the roll damping principal ofmarine robot navigating near surface with low speed，three different control strategies isdeveloped with theory of variable control，adaptive control，feedback linearization andnonlinear tracking control. The specific problems in the roll damping control of marine robotare solved by the proposed control strategies, which is caused by the randomness of wave andnonlinearity of deformation bionic fin’s lift model. The theoretical proof and the results fromsimulation experiments are presented to demonstrate the stability and validity of the controllaw proposed.
Further, the marine robot motion model in horizontal plane with coupling of roll, yaw andsway is presented, and the effect from system’s uncertainty which is caused by hydrodynamiccoefficients and disturbance is considered. According to the principle of rudder/fin joinedcontrol, an adaptive controller for course keeping and roll damping is designed by using thetheory of terminal sliding mode control. Genetic algorithm is carried out to optimize thecontroller parameters based on the parameterization formula, aiming at getting comprehensiveoptimal of roll reduction and energy consumption. Through theoretical analysis and numericalsimulation, the presented controller is proved to be stable and effective, meanwhile, theenergy consumption is reduced.
当海洋机器人在近水面低速航行作业时，与处于深海时不同，将受到近水面波浪的干扰。在这些扰动的作用下，机器人将产生摇摆运动，使其姿态平衡受到影响，进而威胁到机器人的工作及安全性能。由于海洋机器人具有航行速度过低、自身形体结构特殊及体积较小等特点，本文提出一种结合仿生学理论及变形鳍技术的新型减摇装置。该装置不仅具有更高的升力产生效率，同时能量消耗较小，适用于海洋机器人近水面低速航行时的姿态控制。
为研究海洋机器人在近水面时的动力学特性，本文首先对机器人6自由度运动模型进行了分析。为简化控制系统的设计及便于对被控对象的分析，将系统方程在平衡点处线性化，建立具有状态空间形式的海洋机器人近水面运动方程。在对机器人外形结构进行简化的基础上，对近水面波浪干扰力及力矩进行理论分析，利用Morison方程建立干扰力的数学模型，并结合数值仿真确定海浪干扰对机器人的深度干扰范围。
利用解耦及线性化方法建立用于横摇减摇控制的海洋机器人横摇运动模型。阐述海洋机器人在近水面低速航行时的横摇减摇原理，结合变结构控制理论、自适应控制理论、反馈线性化方法及非线性跟踪控制理论，设计了三种不同的横摇减摇控制策略。所设计的控制策略解决了在海洋机器人横摇减摇控制中，由于海浪干扰的随机性及变形仿生鳍升力模型非线性所带来的具体控制设计问题。通过理论分析及仿真实验，验证了控制器设计的稳定性及有效性。
进一步，考虑由于水动力参数的不确定性和外界干扰对系统模型的影响，建立海洋机器人横摇、艏摇及横荡相耦合的水平面运动模型。依据舵、鳍联合控制原理，并结合自适应机制及Terminal滑模控制原理，设计针对海洋机器人航向及横摇姿态的综合控制器。建立基于航行阻力及能量消耗的性能指标，利用遗传算法对控制器参数进行优化，实现减摇控制效果及能量消耗的综合最优。理论分析及仿真结果表明，控制器是稳定的，且在保持一定的减摇效果的同时有效减小了系统能量消耗。
As an important sustainable wealth of human society, the ocean resources have become animportant strategy target of all countries. Meanwhile, as a high technology carrier in the fieldof marine resources development and utilization, marine robot has gain more and moreattention. Marine robot can help us better protect the ocean resources of the earth, andefficiently utilize them for human welfare. Due to the actual demand as in engineeringoperations, the research and development of mariner robot operating near surface has becomean important developing direction.
When marine robot traveling near surface with low velocity, it will be disturbed by wave,which is different from the situation in deep ocean. As for the disturbance, the marine robotwill have swing motion which affects the attitude balancing, and then the robot’s security andworking performance will be damaged. Since the limits of robot’s low speed, special form andsmall size, a new kind of roll damping device is presented which is base on the theory ofbionics and deformation technology. This device has higher lift generate efficiency andsmaller energy consumption, which is suitable for attitude controlling of marine robotoperating near surface with low speed.
In order to study the dynamic characteristics of marine robot navigating near surface, therobot’s6freedom motion model is firstly analyzed in this paper. To simplify the design of thecontrol system and facilitate analysis of the plant, the system equations are linearized about amean operating state, and the marine robot linear equations of motion in state form ispresented. Through the theoretical analysis of the near surface wave disturbance and thesimplification of robot’s outer structure, the wave force model is established by usingMorison’s equation, and the interference range is identified with the numerical simulation.
The marine robot roll motion model that is used for roll damping control is established byusing the method of linearization and decoupling. According to the roll damping principal ofmarine robot navigating near surface with low speed，three different control strategies isdeveloped with theory of variable control，adaptive control，feedback linearization andnonlinear tracking control. The specific problems in the roll damping control of marine robotare solved by the proposed control strategies, which is caused by the randomness of wave andnonlinearity of deformation bionic fin’s lift model. The theoretical proof and the results fromsimulation experiments are presented to demonstrate the stability and validity of the controllaw proposed.
Further, the marine robot motion model in horizontal plane with coupling of roll, yaw andsway is presented, and the effect from system’s uncertainty which is caused by hydrodynamiccoefficients and disturbance is considered. According to the principle of rudder/fin joinedcontrol, an adaptive controller for course keeping and roll damping is designed by using thetheory of terminal sliding mode control. Genetic algorithm is carried out to optimize thecontroller parameters based on the parameterization formula, aiming at getting comprehensiveoptimal of roll reduction and energy consumption. Through theoretical analysis and numericalsimulation, the presented controller is proved to be stable and effective, meanwhile, theenergy consumption is reduced.
引文
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