无人自主水下航行器矢量推进器研究

【作者】 王聘；

【导师】 李宏；

【作者基本信息】 西北工业大学 ， 电力电子与电力传动， 2006， 硕士

【摘要】 本文提出了一种采用推力矢量技术的喷水式推进器，用以提高水下航行器的操纵性和机动性。在具有鱼雷外形的水下航行器数学模型基础上，修正了采用矢量推进器的水下航行器数学模型。对模型简化后导出了简化模型的传递函数。根据矢量推进方式下的传递函数和普通推进方式下的传递函数，对同一水下航行器进行了仿真。仿真结果表明采用推力矢量技术的喷水式推进器提高了水下航向器的操纵性和机动性。 根据矢量推进水下航行器传递函数，对采用PID控制和模糊自适应控制的控制效果进行了仿真，结果表明模糊自适应控制是可以胜任水下航行器的控制任务的。在对水下航行器矢量推进器控制系统体系结构分析的基础上，给出了详细的硬件和软件实现策略。以DSP作为微控制器，实时性好，控制精度高，提高了系统整体性能。对主推进电机和舵电机的控制采用了双闭环结构，PI调节器由DSP软件实现。共享总线采用CAN总线，其功能良好、可靠性高、抗干扰能力强。在系统基本控制功能的基础上，采用软硬件保护功能和抗干扰措施等，提高了系统的可靠性。更多还原

【Abstract】 This dissertation advances a new kind of Water Pump Thruster which uses Thrust Vector Technical to improve the AUV maneuverability and flexibility. Based on the math model of AUV in the shape of torpedo math model, AUV math model with vector thruster is modified. The math model is simplified, then the thansfunction is educed on the basis of the simplified model. Simulation to the same AUV is completed between the vector thrust AUV transfunction and the ordinary thrust one. The simulation results prove that the AUV maneuverability and flexibility is improved because of the Water Pump Thruster with Thrust Vector Technical using.The control effection of the PID control and fuzzy adaptive control is simulated to the transfunction of AUVwith vector thruster.Simulation results prove that fuzzy adaptive control is competent for the AUV control task. Based on the analysis of the AUV vector thruster control system structure, hardware and software implement strategy is given in detail. DSP is used as Micro- controller, which has the advantage of good real time characteristic, high control precision, holistic capability improving. Dual-closed loop structure is adopted in main thrust motor and rudder motors, and PI controller is implemented by DSP software. Share bus is CAN bus which is nice function, high reliability and anti-jamming. Reliability is improved by hardware and software protection and anti-jamming measure on the base of system basic function.更多还原