动力分布式水下链式机器人建模与控制

According to the capability requirements of long distance, high precision and strong mobility in underwater target detection tasks, this project studies modeling and control methods of a chain-structured underwater vehicle with distributed driving forces, which has the capability of carrying large-scale acoustic linear array sonar and good mobility. It aims at improving the detection and tracking capability and exploring a new type of operation of using serially connected underwater vehicles. According to the structural characteristics of the vehicle with distributed driving forces, rigid-flexible mixing, chain-structured and multi-body, this project focuses on the research of hydrodynamic characteristics and predictability, driving mechanism and joint mechanical characteristics, and motion control under different grouping forms of driving forces. The framework of precise modeling and effective control for the underwater vehicle with distributed driving forces and chain-structured is established, which gives it the ability of smooth sailing and precise trajectory tracking. The theoretical analysis and experimental verification of key technologies are carried out. At the same time, as the basic theory and technology research, the research results of this project will provide the necessary theoretical basis and technical reserves for the modeling and control of the underwater vehicle with the structural characteristics of chain-structured and multi-body, and play an important role in technical guidance and promotion for expanding the wide application of it in the fields of national ocean safety, ocean observation and so on.

针对水下目标探测的远距离、高精度、强机动能力需求，以提升探测跟踪能力为目标，研究一类具有搭载大尺寸声学线列阵声呐能力且机动性能好的动力分布式水下链式机器人建模与控制问题，探索基于水下机器人串联的新型作业形式。针对动力分布式、刚柔混合、链式多体的结构特点，重点开展水动力特性及其可预报性、驱动机理及关节处力学特性、动力编组下的运动控制等问题研究，建立动力分布式水下链式机器人的精确建模与有效控制框架，赋予其高效平稳航行、精确轨迹跟踪能力，并进行理论分析与关键技术实验验证。同时，作为基础理论与技术研究，本项目研究成果将为链式多体水下机器人的建模与控制提供必要的理论基础和技术储备，对拓展链式多体水下机器人在国家海洋安全、海洋观测等领域的广泛应用具有重要的技术引导和推动作用。

搭载声学载荷的动力分布式水下链式机器人是新型水下目标探测形式，满足探测的远距离、高精度、强机动能力需求。针对动力分布式、刚柔混合、链式多体的复杂结构特征以及带来的操纵挑战，本项目研究其系统建模与运动控制问题。在系统建模方面：预报了多模态直航阻力，建立了单元数量、航速、单元间距与直航阻力关系模型；基于柔性关节等效、受力平移、流场耦合解析等分析方法，建立了不同运动模式下的系统动力学模型。在运动控制方面：设计了考虑轨迹跟踪效果与控制实时性的模型预测控制器，获得了良好的整体与单元控制性能指标；建立了单元间动动对接行为决策机制，赋予了水下链式机器人运动重构能力。基于以上突破与创新，提出了解决动力分布式水下链式机器人难操纵问题的一般方法。最好，为了验证所提方法的有效性，进行了数字仿真、虚拟仿真和物理实验等多种试验形式。