一种尾部驱动的水下机器人建模与控制

MODELING AND CONTROL OF A TAIL-DRIVEN UNDERWATER VEHICLE

焦欧阳

11849045

硕士

机械设计及理论

张巍

2020-06-04

2020-07-20

哈尔滨工业大学

深圳

传统的水下机器人建模往往是从流体动力学理论出发，建立非线性的动力学模型，并依赖专业的流体分析软件或者设计专门的实验来确定动力学模型中的系统参数。这种方法往往工作量十分繁杂，而且有时确定的系统参数准确度不高。对于尾驱动水下机器人，其动力学模型具有运动参数非线性耦合、摆动输入时变以及欠驱动特性，使得其控制设计具有很大的挑战性。针对尾驱动水下机器人建模与控制的问题，本文避开以往通过流体仿真分析和实验确定系统参数的思路，基于第一性原理对机器人的建模和控制方法进行了研究。为了实现该任务，本文主要包含以下研究内容：水下机器人的动力学建模、水下机器人动力学模型的系统参数辨识和基于李雅普诺夫稳定性分析的水下机器人运动控制。

The traditional modeling of underwater vehicle is usually based on the theory of fluid dynamics to establish a nonlinear dynamic model, and rely on professional fluid analysis software or design special experiments to determine the system parameters in the dynamic model. This method is often very complex, and sometimes the accuracy of the system parameters is not high. For the tail-driven underwater vehicle, its dynamic model has the characteristics of nonlinear coupling of motion parameters, time-varying swing input and underactuation, which makes its control design very challenging. Aiming at the problem of modeling and control of the tail-driven underwater vehicle, this paper studies the modeling and control method of the robot based on the first principle, avoiding the previous idea of determining system parameters through fluid simulation analysis and experiment. In order to achieve this task, this paper mainly includes the following research contents: the dynamic modeling of the underwater vehicle, the system parameter identification of the dynamic model of the underwater robot and the motion control of the underwater vehicle based on Lyapunov stability analysis.

水下机器人 动力学建模 系统辨识 反推控制

underwater vehicles dynamic modeling system identification backstepping control

中文

联合培养

南方科技大学

焦欧阳. 一种尾部驱动的水下机器人建模与控制[D]. 深圳. 哈尔滨工业大学,2020.