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首页> 外文期刊>Frontiers of Information Technology & Electronic Engineering >Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation
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Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation

机译：欠驱动自动水下航行器的水下对接：系统设计和控制实现

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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.
机译：水下对接极大地方便了并扩展了无人水下航行器（AUV）的操作，而无需水面船只的支持。鲁棒和准确的控制对于将AUV对接至小型水下漏斗型对接站至关重要。在本文中，提出了一种带有欠驱动AUV的对接系统，并特别注意了控制算法的设计和实现。对于欠驱动的AUV，只能通过车辆航向调制来控制跨轨误差，因此必须限制跨轨误差和航向误差以实现成功的对接操作，而控制问题甚至可能更加复杂在实际情况下，存在未知的洋流。为了解决上述问题，开发了一种控制回路的三层结构的控制方案，该方案已嵌入在线电流估计器/补偿器和有效的控制参数调整中。电流估算器仅基于AUV相对于地面的速度测量值，就可以评估水平和垂直电流速度分量;相比之下，大多数现有方法都使用AUV相对于地面和水柱的速度测量值。除数值模拟外，使用MOOS-IvP体系结构在原型AUV中完全实现了建议的对接方案。仿真结果表明，即使存在横向电流干扰，电流估计器/补偿器也能很好地工作。最后，进行了一系列海试，以验证当前的估算器/补偿器和整个对接系统。海上试验结果表明，我们的控制方法可以有效，可靠地将AUV驱动到码头。

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