【摘要】 针对TH50-I便携式自主水下航行器(AUV)研制的需要,设计并开发了基于CAN总线的分布式航行控制系统。采用"任务级-执行级"双控制器结构,其中,任务级控制器完成航行任务的接收和执行,并确保AUV航行安全,而执行级控制器则完成AUV的航位推算导航,以及航路点导引与运动控制。进一步研究了AUV深度、航向和横滚3个解耦控制子系统的控制回路结构,并设计了控制规律。最后给出了该AUV的海上试验结果,表明AUV控制性能良好,航行稳定,控制精度能够满足AUV的性能指标要求。更多还原

【Abstract】 A CAN-based distributed flight control system is developed for the TH50-I portable autonomous underwater vehicle(AUV). This proposed control architecture consists of task-level and execution-level controllers. The task-level controller receives and executes the pre-programmed underwater missions to generate depth and waypoint commands, and guarantees the vehicle safety. The execution-level controller performs dead reckoning navigation, waypoint guidance, and motion control. The control algorithms of decoupled yawing, pitching and rolling systems are designed and implemented. The sea trails are introduced, and the results are presented to validate that the performance of the developed control system satisfies the design requirements with stable flight trajectory and high control accuracy.更多还原