控制动作下带缆遥控水下机器人的水动力特性

摘要

首先利用模糊神经网络算法构建了基于完整的带缆遥控水下机器人水动力数学模型的控制器,对水下机器人多自由度上的轨迹和姿态进行控制；然后,针对传统螺旋桨推进力分析方法中的缺陷,引入神经网络相关理论并结合计算流体方法对推进力和转速之间的相互关系进行辨识和换算；在此基础上构建了一个完整的、包括模糊神经控制器、机器人水动力数学模型以及推进力和转速换算模块的带缆遥控水下机器人控制系统；最后,在考虑系统各部分间相互影响的前提下进行了水动力特性的整体分析和计算.数值计算结果表明,所建立的控制系统可以对带缆遥控水下机器人进行有效的轨迹和姿态控制,文中方法可以从整体的角度分析一定控制动作下水下机器人的水动力响应.%A controller based on an integrated hydrodynamic model of the tethered underwater robot is constructed with the help of FNN ( Fuzzy Neural Network) algorithm and is used to control the trajectory and attitude of the robot in multiple degrees of freedom. Then, in order to remedy the disadvantages of the traditional method of analyzing propeller propulsion, a new method combining the theory of neural network and the computational fluid dynamics technique is proposed for the conversion between the propulsion and the rotating speed. Moreover, an integrated control system, which consists of a FNN controller, a robotic hydrodynamic model and a conversion module of propulsion and rotating speed, is presented for the tethered underwater robot. Finally, the hydrodynamic characteristics of the robot are globally analyzed and calculated by taking into consideration the interaction among different parts of the robot. Numerical simulation results indicate that the proposed system effectively controls the trajectory and attitude of the tethered underwater robot, and that it helps to globally calculate the hydrodynamic response of the underwater robot under corresponding control action.