摘要
针对水下无人航行器（UUV）海底驻留值守的着陆坐底过程,分析了UUV坐底的环境约束以及UUV完成坐底所需的近海底环境感知能力和操控能力,提出了一种环境自适应的坐底策略和控制方法,提高了UUV坐底过程中声呐的数据质量和局部地形构建精度。基于多波束声呐数据,在线构建海底局部三维地形,并自动选择满足梯度和坡度约束的坐底位置。基于近海底的海流流向,自动选择UUV坐底的最优艏向;设计了UUV下沉着底时的位置保持和艏向控制器,开展了相关实验,验证了坐底策略与控制方法的可行性和有效性。
In view of the landing process of the unmanned underwater vehicle（UUV）, the environmental constraints of the UUV landing is analyzed. Moreover, the near-submarine environment sensing and maneuvering ability is determined for the UUV to complete the landing. An environment-adaptive landing strategy and control method is proposed to improve the data quality of the sonar and the accuracy of local terrain construction during the UUV landing process. By utilizing the multi-beam sonar data, the local three-dimensional topography of the seabed is constructed online, and the landing position is automatically selected to satisfy the gradient and slope constraints. Based on the current flow of the seabed, the optimal direction of the UUV landing is adaptivelyselected. The position maintaining and tilting controller of the UUV landing is designed. The simulation experiments verify the feasibility of the landing strategy and control method.
作者
徐健
陈冬
李娟
田国强
Xu Jian;Chen Dong;Li Juan;Tian Guoqiang(Harbin Engineering University,Harbin 150001,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2018年第9期211-219,共9页
Chinese Journal of Scientific Instrument
关键词
着陆坐底
环境自适应
海底地形构建
滑模控制
underwater landing
environment adaptive
construction of seabed terrain
sliding mode control
