【摘要】 针对水下机器人各自由度之间存在较强的耦合和非线性特征,其精确的数学模型很难获得的问题,建立了水下机器人空间运动的数学模型,并根据实际需要和控制器设计的方便进行了适当简化,得到了水下机器人自由度运动模型.在此基础上,使用了基于神经网络的PID控制方法.结合水下机器人六自由度水动力模型,建立了基于BP网络的PID的水下机器人控制器,并进行了仿真环境下的试验.试验结果表明,以上控制方法较为适合水下机器人的运动控制.更多还原

【Abstract】 Because the autonomous underwater vehicle(AUV) possesses nonlinearity and strong couplings between the degrees of freedom,it is very difficult to obtain the accurate mathematical model.According to the actual requirements and the convenience for the design of control system of AUVs,some simplifications were properly adopted and the mathematical model of 6 degrees of freedom for AUV’s motion was established.Furthermore,the PID control method based on neural network was employed for AUVs and the corresponding controller was completed.The simulation experiments were made.The results show that the proposed method is suitable for the control of the AUV.更多还原