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首页> 外文期刊>Ocean Engineering >Rapid modeling and control systems prototyping of a marine robotic vehicle with model uncertainties using xPC Target system
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Rapid modeling and control systems prototyping of a marine robotic vehicle with model uncertainties using xPC Target system

机译：使用xPC Target系统的具有模型不确定性的海洋机器人车辆的快速建模和控制系统原型

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摘要

Rapid control systems prototyping have been used to develop controllers for numerous applications. However, most methods are constrained by programming language, embedded systems configurations, and types of operating systems used. These constraints often make the modeling, control systems design and testing difficult to accomplish, and inflexible when dealing with complex mechatronics systems such as an underwater robotic vehicle (URV) before it has been fully developed. With the proposed xPC Target platform, dynamics of the URV including the hydrodynamics parameters can be experimentally determined, simulated and validated easily with computational fluid dynamic method. The experiment with a robust sliding-mode control of the autonomous underwater vehicle (AUV) using the dynamic model obtained is first shown. In the pool trials, the sliding-mode controller deems to be robust enough to control the top control surface angular position despite of the uncertainties in the hydrodynamic parameters obtained and the external disturbance during pool test.
机译：快速控制系统原型已用于开发适用于多种应用的控制器。但是，大多数方法都受编程语言，嵌入式系统配置和所用操作系统类型的限制。这些约束通常使建模，控制系统的设计和测试难以完成，并且在处理复杂的机电一体化系统（如水下机器人车辆（URV））之前，也就变得僵化了。使用建议的xPC Target平台，可以使用计算流体动力学方法轻松地通过实验确定，模拟和验证URV的动力学，包括流体动力学参数。首先显示了使用获得的动态模型对自动驾驶水下航行器（AUV）进行鲁棒滑模控制的实验。在水池试验中，尽管在水池试验过程中获得的流体动力学参数和外部干扰存在不确定性，但滑模控制器被认为具有足够的鲁棒性以控制顶部控制表面的角位置。

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