欠驱动自主水下航行器水下接驳：系统设计与控制实现

李波; 徐元欣; 范双双; 徐文

doi:10.1631/FITEE.1700382

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欠驱动自主水下航行器水下接驳：系统设计与控制实现

海洋信息技术专辑 | Updated：2022-05-19

- 欠驱动自主水下航行器水下接驳：系统设计与控制实现
- Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation
- 信息与电子工程前沿（英文） 2018年19卷第8期页码：1024-1041
- Affiliations：
  
  College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China
- Author bio：
  
  Yuan-xin XU, E-mail: xuyx@zju.edu.cn
- Funds：
  
  Project supported by the Zhejiang Provincial Natural Science Foundation (No. LY16F010007), the National High-Tech R & D Program of China (No. 2013AA09A414), and the Fundamental Research Funds for the Central Universities, China (No. 2017QNA5009)
- DOI：10.1631/FITEE.1700382
  中图分类号： TP242
- 收稿：2017-06-13，
  
  修回：2018-;8-15，
  
  纸质出版：2018-08
- Accepted：
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李波, 徐元欣, 范双双, 等. 欠驱动自主水下航行器水下接驳：系统设计与控制实现[J]. 信息与电子工程前沿（英文）, 2018,19(8):1024-1041.

Bo LI, Yuan-xin XU, Shuang-shuang FAN, et al. Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(8): 1024-1041.
李波, 徐元欣, 范双双, 等. 欠驱动自主水下航行器水下接驳：系统设计与控制实现[J]. 信息与电子工程前沿（英文）, 2018,19(8):1024-1041. DOI： 10.1631/FITEE.1700382.

Bo LI, Yuan-xin XU, Shuang-shuang FAN, et al. Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(8): 1024-1041. DOI： 10.1631/FITEE.1700382.

摘要

水下接驳系统可以极大地扩展自主水下航行器（AUV）的工作范围，而无需水面舰船的支持。稳定和精确的控制对于将AUV对接到小型水下接驳站至关重要。本文介绍了一种欠驱动水下航行器对接系统，重点介绍了控制算法的设计及实现。对于欠驱动AUV，侧向偏差只能通过调整AUV的航向来控制，AUV与接驳站成功对接必须同时限制其侧向偏差和航向偏差，然而由于实际环境中存在未知洋流，对接控制问题会更为复杂。针对上述情况，设计了回坞控制器，在控制器中嵌入洋流在线估计器/补偿器。洋流估计器可以仅基于AUV相对于地面的速度以及姿态来估计水平方向和垂直方向洋流的大小，而大多数现有方法需要测量AUV相对于大地以及相对于水体的速度。在仿真分析基础上，在基于MOOS-IvP的原型AUV中实现了所设计的回坞策略。仿真结果表明，即使存在侧翼洋流干扰，洋流估计器/补偿器也能很好地工作。最后，通过一系列海上实验验证洋流估计器/补偿器以及整个对接系统的有效性。海试结果表明，本文设计的控制方法可以有效控制AUV入坞。

Abstract

Underwater docking greatly facilitates and extends operation of an autonomous underwater vehicle (AUV) without the support of a surface vessel. Robust and accurate control is critically important for docking an AUV into a small underwater funnel-type dock station. In this paper

a docking system with an under-actuated AUV is presented

with special attention paid to control algorithm design and implementation. For an under-actuated AUV

the cross-track error can be controlled only via vehicle heading modulation

so both the cross-track error and heading error have to be constrained to achieve successful docking operations

while the control problem can be even more complicated in practical scenarios with the presence of unknown ocean currents. To cope with the above issues

a control scheme of a three-hierarchy structure of control loops is developed

which has been embedded with online current estimator/compensator and effective control parameter tuning. The current estimator can evaluate both horizontal and vertical current velocity components

based only on the measurement of AUV's velocity relative to the ground; in contrast

most existing methods use the measurements of both AUV's velocities respectively relative to the ground and the water column. In addition to numerical simulation

the proposed docking scheme is fully implemented in a prototype AUV using MOOS-IvP architecture. Simulation results show that the current estimator/compensator works well even in the presence of lateral current disturbance. Finally

a series of sea trials are conducted to validate the current estimator/compensator and the whole docking system. The sea trial results show that our control methods can drive the AUV into the dock station effectively and robustly.

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