摘要当今时代，陆地资源逐渐匮乏，海洋开发越来越深入，而自治式水下机器人（Autonomous Underwater Vehicle，AUV）作为海洋开发的重要工具，得到了各国的 广泛关注。同时，AUV 是一个非常复杂的高耦合非线性控制对象，因而我们很难得 到其精确地运动学和动力学数学模型。因此，研究 AUV 的动力定位控制器一直是这 个领域的热点和难点。本文主要涉及建立了 AUV 六自由度运动模型并化简，然后分 别设计出 PID 控制器和模糊自校正 PID 控制器，完成对 AUV 的动力定位控制。80310
本文首先简单介绍 AUV 的发展现状和研究历史。然后，通过力学，运动学，流 体力学等物理知识对 AUV 的空间运动进行建模。并且根据实际情况和控制器设计的 便利，对模型进行了适当的简化，得到了 AUV 的纵向运动方程和横向运动方程。并 在此基础上，使用了 PID 的控制方法对 AUV 运动进行控制。接着，本文根据控制效 果和实际应用的需要，将模糊控制的控制思想引进到 PID 控制中实现 PID 控制器参 数自校正，从而得到更加优良的控制效果。最后，本文给出了这些控制器通过 MATLAB 仿真平台得到的结果及结论。
毕业论文关键词：自治式水下机器人（AUV） 动力定位 PID 控制 模糊控制
ABSTRACT Now, with the gradual lack of land resources, marine development is more and more in-depth, autonomous underwater vehicle (AUV) as an important tool for the development of the ocean, has been widely concerned about the country。 Meanwhile, AUV is a very complex and highly coupled nonlinear control object, so it is difficult to find its exact kinematic and dynamic mathematical model。 Therefore, the research on the dynamic positioning controller of AUV has been a hot and difficult point in this field。 This paper mainly involves the establishment of AUV six degree of freedom motion model and simplified, and then respectively designed PID controller and fuzzy self-tuning PID controller to complete the dynamic positioning control of AUV。
This paper briefly introduces the development status and research history of AUV。 Then, the space motion of AUV is modeled by the physical knowledge, such as mechanics, kinematics, fluid mechanics and so on。 According to the actual situation and the convenience of the controller design, the model is simplified, and the longitudinal motion equation and the lateral motion equation of AUV are obtained。 And on the basis of this, the control method of PID is used to control the motion of AUV。 Then, according to the control effect and the need of practical application, the control method of fuzzy control is introduced into the PID control to achieve the PID controller parameter self-tuning, which can get better control effect。 Finally, the results and conclusions obtained by the MATLAB simulation platform are presented in this paper。
Key words: autonomous underwater vehicle (AUV) dynamic positioning PID control fuzzy control
目录
第一章 绪论 1
1。1 AUV 研究的意义和目的 1
1。2。1 美国 2
1。2。2 日本 3
1。2。3 中国 3
1。3 AUV 动力定位研究所存在的问题 4
1。4 本文的主要研究内容 4
第二章 AUV 的运动模型 AUV海洋工程水下机器人动力定位控制设计+仿真程序:http://www.youerw.com/zidonghua/lunwen_93227.html