Please wait a minute...
工程设计学报
工程设计学报  2021, Vol. 28 Issue (5): 633-645    DOI: 10.3785/j.issn.1006-754X.2021.00.069
整机和系统设计     
AUV水下对接系统设计与接驳控制方案研究
辛传龙1,2,3, 郑荣1,2, 杨博1,2
1.中国科学院沈阳自动化研究所 机器人学国家重点实验室， 辽宁 沈阳 110016
2.中国科学院 机器人与智能制造创新研究院， 辽宁 沈阳 110169
3.中国科学院大学， 北京 100049
Research on the design and connection control scheme of AUV underwater docking system
XIN Chuan-long1,2,3, ZHENG Rong1,2, YANG Bo1,2
1.State Key Laboratory of Robotics， Shenyang Institute of Automation， Chinese Academy of Sciences， Shenyang 110016， China
2.Robotics and Intelligent Manufacturing Innovation Institute， Chinese Academy of Sciences， Shenyang 110169， China
3.University of Chinese Academy of Sciences， Beijing 100049， China
 全文: PDF(26998 KB)   HTML
摘要： 为了实现自主水下机器人（autonomous underwater vehicle，AUV）稳定、准确、高效地完成水下对接，提出一种导向罩开合式水下对接装置。针对该装置对接结构的特征所决定的AUV入坞运动的控制要求，考虑到在入坞阶段前向运动起主导作用，分别建立了在静对接、悬浮对接和拖曳动对接三种应用场景下AUV对接系统的动力学仿真模型，重点分析了AUV对接系统在对接时受到的水动力和碰撞力。基于ADAMS （automatic dynamic analysis of mechanical system，机械系统动力学自动分析）和控制仿真软件MATLAB/Simulink联合搭建的水下对接仿真系统，进行在不同接驳控制方案下静对接、悬浮对接和拖曳动对接效果的仿真分析与对比。分析结果表明：在位置-速度闭环控制下，对接能耗、碰撞次数和最大碰撞力均为最小，对接耗时比传统的位置闭环控制减少约50%；在拖曳动对接场景下，在位置-速度闭环控制下对接系统实现了良好的变速跟踪，有利于AUV快速对接。该AUV水下对接系统适用于不同的对接场景，方便无人艇搭载并对AUV进行布放与回收，有利于革新海洋无人系统跨域协同作业模式。
Abstract: In order to realize the stable, accurate and efficient underwater docking of autonomous underwater vehicle (AUV), a guide cover opening and closing underwater docking device was proposed. According to the control requirements of AUV docking motion determined by the characteristics of the docking structure of the device, considering that the forward motion played a leading role in the docking stage, the dynamics simulation models of AUV docking system under three application scenarios of static docking, floating docking and towed docking were established respectively. The hydrodynamic force and collision force of AUV docking system when docking were analyzed emphatically. Based on the underwater docking simulation system jointly built by ADAMS (automatic dynamic analysis of mechanical system) and control simulation software MATLAB/Simulink, the simulation analysis and comparison of static docking, floating docking and towed docking effects under different connection control schemes were carried out. The results showed that under the position-velocity closed-loop control, the docking energy consumption, collision times and maximum collision force were the smallest, and the docking time was reduced by about 50% compared with that under the traditional position velocity closed-loop control; under towed docking scenario, the docking system realized good variable velocity tracking under the position-velocity closed-loop control, which was conducive to the rapid docking of AUV. The AUV underwater docking system is suitable for different docking scenarios, which is convenient for unmanned boats to launch and recover AUV, and is more conducive to the innovation of cross-domain cooperative operation mode of ocean unmanned systems.
收稿日期: 2020-10-06 出版日期: 2021-10-28
CLC:  TP 242.3  
基金资助: 中国科学院战略性先导科技专项项目（XDA13030294）；国防基础科研计划资助项目（JCKY2019207A019-2）
通讯作者: 郑荣（1963—），男，辽宁沈阳人，研究员，博士生导师，硕士，从事水下机器人总体技术研究，E-mail：zhengr@sia.cn     E-mail: zhengr@sia.cn
作者简介: 辛传龙（1995—），男，山东济宁人，硕士生，从事水下机器人对接关键技术研究，E-mail：xinchuanlong@sia.cn，https：//orcid.org/0000-0002-4792-6439；
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　

引用本文:

辛传龙, 郑荣, 杨博. AUV水下对接系统设计与接驳控制方案研究[J]. 工程设计学报, 2021, 28(5): 633-645.

XIN Chuan-long, ZHENG Rong, YANG Bo. Research on the design and connection control scheme of AUV underwater docking system. Chinese Journal of Engineering Design, 2021, 28(5): 633-645.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2021.00.069    或    https://www.zjujournals.com/gcsjxb/CN/Y2021/V28/I5/633

[1] 高伟,张玮,谷海涛,孟令帅,高浩,赵志超. 大型深海AUV无动力螺旋下潜运动特性分析[J]. 工程设计学报, 2022, 29(3): 370-383.
[2] 张俊宝, 侯红娟, 崔国华, 刘健. 一类刚柔协作混联机器人机构的绳索数量和位置分布研究[J]. 工程设计学报, 2020, 27(3): 364-372.
[3] 张俊宝, 侯红娟, 刘健, 孙丁丁, 解磊磊. 刚柔协作3CD/2RPU-SPR搅拌摩擦焊机器人研究[J]. 工程设计学报, 2020, 27(2): 172-181.