【作者】 张晋；

【导师】 袁建明； 杨仲；

【作者基本信息】 武汉理工大学 ， 机械工程（专业学位）， 2024， 硕士

【摘要】 拖曳式水下航行器(Towed Underwater Vehicle,TUV)由于具有定深控制能力强和可靠性高等优势,被广泛用于海洋资源勘探等领域。但由于受到复杂多变的海况影响,TUV运动系统具有时变、强非线性、高度耦合等特点,导致定深控制难以精准实现。因此,本文以TUV运动系统为研究对象,开展基于自抗扰控制的TUV系统定深运动控制研究。论文的主要研究内容有:(1)根据拖缆和水下航行器在各自坐标系下的转换关系及力平衡关系,分别推导了TUV系统拖缆和水下航行器的运动模型,并将其简化为垂直面运动模型,在此基础上,对拖缆运动模型进行时间和空间有限差分,结合边界耦合条件,采用Runge-Kutta法求解TUV系统的运动模型。(2)将随机佳点集种群初始化、减法优化器算法全局搜索及自适应阈值与蛇优化算法相融合,提出了改进蛇优化算法,利用基准测试函数与粒子群算法、灰狼算法和鲸鱼算法的寻优效果进行对比分析,并针对自抗扰控制(Active disturbance rejection control,ADRC)的参数多且部分参数调节难等问题,设计了基于改进蛇优化算法优化ADRC控制参数的TUV系统定深运动控制器,探究了不同算法优化ADRC控制参数对TUV定深运动控制效果的影响。结果表明:改进蛇算法有效提高初始种群均布性、寻优速度及精度;改进蛇优化算法优化ADRC控制参数的控制器具有更好的控制性能和更高的鲁棒性。(3)探究了拖曳速度、拖缆密度、直径、长度和阻力系数对TUV稳态运动下拖曳作业深度和拖缆末端张力的影响,通过无扰动及有扰动TUV运动系统定深控制动态仿真试验对比分析了PID、人工调参的ADRC和改进蛇优化算法优化ADRC控制参数的控制器性能。结果表明:随着拖缆的密度、长度的增加及拖缆法向阻力系数、直径与拖曳速度的下降,TUV运动系统在稳态下可达到的拖曳作业深度逐渐变大,作业范围逐渐变大;随着拖缆的切向阻力系数、密度、长度、直径与拖曳速度的增大,TUV运动系统在稳态下的缆绳末端张力逐渐增加;对于无扰动或有扰动定深控制,PID超调量最大,抗干扰能力最差,改进蛇优化算法优化的ADRC控制器控制精度比人工调参的ADRC控制精度更高,鲁棒性更强;基于改进蛇优化算法优化ADRC控制参数的控制器的TUV运动系统更适应水下恶劣的作业环境。更多还原

【Abstract】 Towed Underwater Vehicle(TUV)is widely used in marine resource exploration and other fields in view of its advantages,such as strong fixed-depth control ability and high reliability.However,the TUV motion system has the characteristics of time-varying,strong nonlinear and high coupling considering the effect of the complex and ever-changing sea conditions.This leads to difficulty in achieving fixed-depth control accurately.Therefore,the fixed-depth control of the TUV motion system is explored based on active disturbance rejection control(ADRC).The main research contents of this thesis are as follows:(1)The motion models of the towing cable and the underwater vehicle in the TUV system were derived from respective coordinate systems in view of the conversion relationship and the force balance relationship for the towing cable and the underwater vehicle.These motion models were simplified into a vertical motion model.After that,the motion model of the towing cable was discretized by finite difference method in both time and space domains.Combing the coupling conditions of the boundary,the simplified motion model of the TUV system was solved using Runge-Kutta method.(2)An improved Snake Optimizer(ISO)was proposed by introducing the population initialization of random Good Point Set,the global search of subtraction-average-based optimizer and the adaptive threshold in the Snake Optimizer.The optimization effect of the ISO was analyzed using benchmarking function by comparing with the Particle Swarm Optimization,the Gray Wolf Optimizer and the Whale Optimization Algorithm.According to the problem of multiple parameters and difficulty in adjusting some parameters in the ADRC,the fixed-depth control of the TUV motion system was designed based on the ADRC control parameters optimized by the ISO.The influence of the ADRC control parameters optimized by different algorithms on the control performance of the TUV fixed-depth motion was investigated.The results show that the initial population uniformity,optimization speed and accuracy are effectively improved by the ISO.The ADRC controller integrating the parameters optimized by the ISO has better control performance and higher robustness.(3)The effect of the towing speed,cable density,cable diameter,cable length and drag coefficient on the operating depth and cable tension of the TUV system under steady motion were investigated.The controller performance of the PID,the ADRC with parameters adjusted manually and the ADRC with parameters optimized by the ISO were compared and analyzed through dynamic simulation tests on fixed-depth control of TUV motion system under disturbed and undisturbed conditions.The results show that with the increase of the cable density and length,as well as the decrease of the normal drag coefficient of cable,cable diameter and towing speed,the operating depth and range of the TUV motion system under steady state gradually increase.With the increase of the tangential drag coefficient of cable,cable density,cable length,cable diameter and towing speed,the end cable tension of the TUV motion system gradually increases under steady state.The overshoot is the largest for the PID control under disturbed and undisturbed conditions,while the anti-interference ability is the worst.Compared to the ADRC controller with parameters adjusted manually,the ADRC controller with parameters optimized by the ISO has higher control precision and stronger robustness.The TUV motion system integrating the ADRC controller with parameters optimized by the ISO is extremely suitable for harsh environment of underwater working.更多还原