面向区域搜索的智能水下机器人节能控制策略研究

For large-scale and long-time AUV region search, based on the thought of “energy conservation”, the project proposes an AUV energy conservation control strategy, which can use current field energy effectively and reduce the energy loss in autonomous navigating. Combining expected effects of motion planning and control execution, the project builds an optimal control strategy based on rolling optimization idea, and deduces the optimization method of multi-step forecast planning and single-step control execution, which minimizes control output fluctuation, and reduces the AUV energy loss and risks of autonomous navigating. Aiming at regional search for complex submarine topography or concave bay, the project builds regional search principle and proposes a path optimization method for AUV regional search based on “recessive bay”. On the premise of full coverage search, the method can shorten the AUV range and reduce turning frequency. Build system energy consumption equation and study energy-conservation speed and energy-conservation path planning method. Analyse the influence mechanism of current disturbance to AUV motion, and establish effective suppression and compensation mechanism, and propose effective path following control method for underactuated AUV under current disturbance. Simulation and experiments are conducted based on WL-2 AUV to verify the feasibility and validity, which provides theoretical basis and technical support for AUV remote development.

面向大范围、长时间的AUV区域搜索，本项目立足于“节能”思想，深入研究AUV节能控制策略，有效利用海流场能量，减小AUV自主航行时的能量损耗。结合考虑运动规划与预期控制执行效果，建立基于滚动优化思想的AUV最优控制策略，推导多步预测规划单步控制执行的优化方法，最小化控制输出波动，降低AUV系统能耗及自主航行的风险性。针对海底地形复杂或多凹形海湾的区域搜索，建立区域搜索原则，提出基于“隐性海湾”的AUV区域搜索路径优化方法，在保证全覆盖区域搜索的前提下缩短AUV航程及减少转向次数。建立系统能耗方程，研究AUV节能航速和节能路径规划方法。分析海流扰动对AUV运动的影响机理，建立有效的抑制和补偿机制，提出有效的海流扰动下欠驱动AUV路径跟踪控制方法。通过WL-2 AUV仿真和实体样机试验来验证AUV节能控制策略的可行性和有效性，为AUV向远程化方向发展提供理论依据和技术支撑。

面向大范围、长时间的海洋区域搜索，本项目立足于“节能”思想，深入研究AUV节能控制策略，有效利用海流场能量，减小AUV自主航行时的能量损耗。针对海底地形复杂或多凹形海湾的区域搜索，建立区域搜索原则，提出基于“隐性海湾”的AUV区域搜索路径优化方法，在保证全覆盖区域搜索的前提下缩短AUV航程及减少转向次数。建立系统能耗方程，研究AUV节能航速。采用Hough和Ordway体积力模型代替真实螺旋桨，应用等推力法、螺旋桨敞水试验及对应的螺旋桨敞水性征曲线计算AUV自航性能相关参数。为求得纵向阻力函数，利用试验设计和近似模型技术构建阻力近似模型。将求得的螺旋桨推进系数和纵向阻力函数代入系统能耗方程，应用梯度优化算法对系统能耗方程进行优化，得到系统能耗最小的节能航速。研究AUV型线节能优化方法，针对水滴形AUV，利用试验设计和近似模型技术构建阻力响应面模型，并应用多岛遗传算法对响应面模型进行确定性优化，应用6Sigma优化理论对AUV型线进行不确定性优化设计，得到同时满足质量要求和可靠性要求的优化方案。分析海流扰动对AUV运动的影响机理，考虑未知海流干扰的影响，基于运动学模型设计海流观测器，通过调整设计参数使观测器误差指数收敛，实现对未知海流的观测与估计，并结合滑模控制对系统未建模动态和外界干扰具有不变性，建立有效的海流扰动下欠驱动AUV三维路径跟踪控制方法。