DYNAMIC MODELING AND OPTIMAL CONTROL OF A POSITIVE BUOYANCY DIVING AUTONOMOUS VEHICLE

IF 3.9 4区 工程技术 Q1 ENGINEERING, MARINE Brodogradnja Pub Date : 2023-01-01 DOI:10.21278/brod74102
Zhiguang Wang, Zhaoyu Wei, Caoyang Yu, Junjun Cao, Baoheng Yao, L. Lian
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引用次数: 2

Abstract

The positive buoyancy diving autonomous vehicle combines the features of an Unmanned Surface Vessel (USV) and an Autonomous Underwater Vehicle (AUV) for marine measurement and monitoring. It can also be used to study reasonable and efficient positive buoyancy diving techniques for underwater robots. In order to study the optimization of low power consumption and high efficiency cruise motion of the positive buoyancy diving vehicle, its dynamic modeling has been established. The optimal cruising speed for low energy consumption of the positive buoyancy diving vehicle is determined by numerical simulation. The Linear Quadratic Regulator (LQR) controller is designed to optimize the dynamic error and the actuator energy consumption of the vehicle in order to achieve the optimal fixed depth tracking control of the positive buoyancy diving vehicle. The results demonstrate that the LQR controller has better performance than PID, and the system adjustment time of the LQR controller is reduced by approximately 56% relative to PID. The motion optimization control method proposed can improve the endurance of the positive buoyancy diving vehicle, and has a certain application value.
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正浮力潜水机器人动力学建模与最优控制
正浮力潜水自主潜水器结合了无人水面舰艇(USV)和自主水下航行器(AUV)的特点,用于海洋测量和监测。它还可用于研究合理有效的水下机器人正浮力潜水技术。为了研究正浮力潜水器低功耗、高效率巡航运动的优化问题,建立了其动力学模型。通过数值模拟确定了正浮力潜水器在低能耗条件下的最佳巡航速度。设计了线性二次调节器(LQR)控制器,以优化潜水器的动态误差和执行器能耗,从而实现正浮力潜水器的最优固定深度跟踪控制。结果表明,LQR控制器比PID具有更好的性能,并且LQR控制器的系统调整时间比PID减少了约56%。所提出的运动优化控制方法可以提高正浮力潜水器的续航能力,具有一定的应用价值。
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来源期刊
Brodogradnja
Brodogradnja ENGINEERING, MARINE-
CiteScore
4.30
自引率
38.90%
发文量
33
审稿时长
>12 weeks
期刊介绍: The journal is devoted to multidisciplinary researches in the fields of theoretical and experimental naval architecture and oceanology as well as to challenging problems in shipbuilding as well shipping, offshore and related shipbuilding industries worldwide. The aim of the journal is to integrate technical interests in shipbuilding, ocean engineering, sea and ocean shipping, inland navigation and intermodal transportation as well as environmental issues, overall safety, objects for wind, marine and hydrokinetic renewable energy production and sustainable transportation development at seas, oceans and inland waterways in relations to shipbuilding and naval architecture. The journal focuses on hydrodynamics, structures, reliability, materials, construction, design, optimization, production engineering, building and organization of building, project management, repair and maintenance planning, information systems in shipyards, quality assurance as well as outfitting, powering, autonomous marine vehicles, power plants and equipment onboard. Brodogradnja publishes original scientific papers, review papers, preliminary communications and important professional papers relevant in engineering and technology.
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