海流干扰下水下机器人快速动态响应的控制方法
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摘要
为清晰掌握水下机器人的响应运动状态,提出海流干扰下水下机器人的快速动态响应控制方法。利用平面坐标系,确定机器人的主体运动方程,完成海流干扰下水下机器人的运动建模。在此基础上,通过计算海流动力混编结果的方式,换算水下机器人的响应控制推力,并确定动态响应边界条件,完成海流干扰下水下机器人快速动态响应控制方法的搭建。对比实验结果表明,与现有技术手段相比,应用新型控制方法后,水下机器人响应运动速度曲线、加速度曲线与理想曲线间的差值明显缩小,整体响应运动状态得到清晰描述。
In order to clearly grasp the response motion state of the underwater vehicle, a fast dynamic response control method of the underwater vehicle under sea current interference is proposed. Using plane coordinate system, the main motion equation of the underwater vehicle is determined, and the motion model of the underwater vehicle under the disturbance of ocean current is completed. On this basis, the response control thrust of the underwater vehicle is converted by calculating the results of the dynamic mixing of ocean currents, and the dynamic response boundary conditions are determined to complete the construction of the fast dynamic response control method of the underwater vehicle under the disturbance of ocean currents. The experimental results show that the difference between the response velocity curve, acceleration curve and ideal curve of the underwater vehicle is significantly reduced and the overall response motion state is clearly described after the application of the new control method compared with the existing technical means.
In order to clearly grasp the response motion state of the underwater vehicle, a fast dynamic response control method of the underwater vehicle under sea current interference is proposed. Using plane coordinate system, the main motion equation of the underwater vehicle is determined, and the motion model of the underwater vehicle under the disturbance of ocean current is completed. On this basis, the response control thrust of the underwater vehicle is converted by calculating the results of the dynamic mixing of ocean currents, and the dynamic response boundary conditions are determined to complete the construction of the fast dynamic response control method of the underwater vehicle under the disturbance of ocean currents. The experimental results show that the difference between the response velocity curve, acceleration curve and ideal curve of the underwater vehicle is significantly reduced and the overall response motion state is clearly described after the application of the new control method compared with the existing technical means.
引文
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[2]徐海祥,瞿洋,余文曌,等.基于动态执行机构的欠驱船舶循迹控制[J].武汉理工大学学报(交通科学与工程版),2016,40(1):6–10.
[3]蔡宝玲,高海东,王剑钊,等.二次再热超超临界机组动态特性分析及控制策略验证[J].中国电机工程学报,2016,36(19):5288–5299.
[4]高华东,扈亦越,王丽雅.集成运放容性负载的瞬态响应分析及补偿[J].电子设计工程,2018,26(1):153–156.