Microsoft Word - 2.赵朝闻_终稿_

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刘拳酆
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1 24 3 鱼雷技术 Vol. 24 No TORPEDO TECHNOLOGY Jun DOI: /j.issn 基于超短基线的 AUV 自主对接流程及算法赵朝闻 1, 张淞 2, 李辉 (1. 705,, ; 2.,, ) 1 摘要 : (AUV),,, :, AUV 4 ; ; VS2008 AUV,, AUV, 关键词 : (AUV); ; ; (USBL); 中图分类号 : TJ631.2; U 文献标识码 : A 文章编号 : (2016) Autonomous Abutting Joint Flow and Control Algorithm for AUV Based on Ultra-short Baseline ZHAO Chao-wen 1, ZHANG Song 2, LI Hui 1 (1. Kunming Branch of the 705 Research Institute, China Shipbuilding Industry Corporation, Kunming , China 2. Department of Architectural Engineering, Logistics University of People s Armed Police Force, Tianjin , China) Abstract: Because of the energy carried by an autonomous underwater vehicle(auv) is limited, the AUV has to autonomously navigate to underwater base station after finishing a task. This paper analyzes current situation of the underwater base station, especially analyzes the abutting joint principle of the subsumption station, and proposes an abutting joint flow based on ultra-short baseline. Firstly, according to different guidance information and the distance between AUV and abutting joint station, autonomous abutting joint process of an AUV is divided into four phases, i.e. long-range phase, middle-range phase, short-range phase and end-range phase. Secondly, characteristics, working flow and control algorithm of every autonomous abutting joint phase are analyzed in detail. Finally, these control algorithms are simulated via VS2008, and the AUV is tested in a lake. The results show that the proposed autonomous abutting joint flow and algorithm are feasible, and they may have a good prospect in engineering applications. Keywords: autonomous underwater vehicle(auv); abutting joint flow; abutting joint algorithm; ultra-short baseline (USBL); underwater base station 0 引言 (autonomous underwater vehicle, AUV),,,, 收稿日期 : ; 修回日期 : 作者简介 : (1992-),,,. 166 Torpedo Technology

2016 6, : AUV 3 AUV,,, AUV, AUV,, 3, [1-4]

1 Three modes of underwater abutting joint

2 Schematic of subsumption abutting joint

2 2016 6, : AUV 3 AUV,,, AUV, AUV,, 3, [1-4] ( 1) ( ), ;, AUV, AUV, AUV, AUV ;, AUV,, Woods Hole REMUS AUV [1] AUV,, (ultra-short baseline, USBL) ( 2), AUV AUV, AUV, 4, 4 VS2008 AUV, 1 系统工作原理 1.1 AUV,,,,, 3(a) (b) (c); 图 1 3 种水下对接方式 Fig. 1 Three modes of underwater abutting joint 图 2 带 USBL 的包容式对接示意图 Fig. 2 Schematic of subsumption abutting joint with ultra-short baseline, AUV, AUV,, AUV, AUV, 3(d) : 180, 167

3 ,, 0 ( ) 360 ( ); : AUV ; : 90,,, 0 ( ) 180 ( ) AUV, AUV, AUV AUV USBL 2 自主对接算法 2.1 AUV,,, AUV 4 : 1, USBL USBL ; 2, AUV ; 3, AUV, AUV ; 4,,, 4, A A B, 300 m; B E, 300 m; E F, 180 m; F, 20 m 图 3 对接基站位置关系图 Fig. 3 Position relationship of abutting joint base station 1.2 AUV USBL AUV, USBL 5 s, AUV,,, AUV,, AUV,, AUV [5-7] 1.3 AUV AUV USBL, ( ), AUV, AUV 图 4 对接各阶段示意图 Fig. 4 Schematic of various phases in abutting joint process 2.2 AUV, A USBL, AUV, AUV, 5 A A ( ), USBL, USBL ; USBL, A 100 m USBL, 168 Torpedo Technology

4 2016 6, : AUV 3 Fig. 5 图 5 远程搜索阶段算法流程图 Algorithm flow chart of long-range search phase USBL ; USBL,, O : Long _ JZ, Lat _ JZ ; γ ( 0,, 0~360 ) USBL, AUV α AUV L, USBL AUV [ ] Long _ AUV = Long _ JZ + L cos ( γ α) / 57.3 (1) Lat _ AUV = Lat _ JZ + L sin ( γ α) / 57.3 (2) [ ] 2.3 AUV USBL, 500 m, 400 m, 300 m, 200 m 4, AUV, 4,, AUV,, AUV, AUV ;, Fig. 6 图 6 中程寻点阶段算法流程图 Algorithm flow chart of middle-range search phase 169

2016 6 24 AUV, AUV, AUV 5 s USBL,, α >180, 180 α; α<180, α 180, 3 USBL, 1,

1 800 m, A, AUV, A AUV, AUV A, A A, ( 200 m), A USBL AUV, AUV USBL AUV 3 /s,

2,, USBL 10 m, 2, AUV 10 m, 2 850 s, AUV, AUV 300 m, AUV, 8 Fig.

AUV USBL, 15 s 1, AUV, 2, AUV 88 (AUV 0) 2 2, AUV, 8(c), AUV, 8(b) AUV : 2

5 AUV, AUV, AUV 5 s USBL,, α >180, 180 α; α<180, α 180, 3 USBL, 1, AUV 180, 2.5 AUV 20 m,,, 5 m, ,, A 3 仿真及试验结果, AUV, VS2008, AUV m, A, AUV, A AUV, AUV A, A A, ( 200 m), A USBL AUV, AUV USBL AUV 3 /s, USBL, A 100 m 100 m 100 m 100 m 3 /s, USBL,, ( 7 ) 3.2,, USBL 10 m, 2, AUV 10 m, s, AUV, AUV 300 m, AUV, 8 Fig. 7 图 7 远程及中程仿真轨迹 Simulation tracks of long-range and middle-range phases 8(a) AUV USBL, 15 s 1, AUV, 2, AUV 88 (AUV 0) 2 2, AUV, 8(c), AUV, 8(b) AUV : s, s, s, 88 8(a) 8(c), 3 000~3 150 s, AUV s,, AUV, 8(d), AUV, AUV, 170 Torpedo Technology

6 2016 6, : AUV 3 4 结束语 AUV, 4,,, AUV, USBL, ;,, AUV ; AUV, USBL 3, 1 ;,, AUV, AUV 参考文献 : 图 8 近程导引试验结果 Fig. 8 Experiment results of short-rang guidance 8, AUV, 1,, [1],. AUV [J]., 2007, 29(3): Yan Kui-chen, Wu Li-hong. A Survey on the Key Technologies for Underwater AUV Docking[J]. Robot, 2007, 29(3): [2],,. AUV [J]., 2007, 40(2): Wu Li-hong, Xu Wen-hai, Wang Li-peng. Dock Position and Pose Estimation Algorithm for AUV Underwater Terminal Docking[J]. Journal of Dalian Maritime University, 2007, 40(2): [3],,,. AUV [J]., 2015, 37(11): Cheng Ye, Yang Yun-shi, Lin Jie, et al. A Survey on Underwater AUV Docking Station[J]. Ship Science and Technology, 2015, 37(11): [4],. AUV [J]., 2013(2): [5]. [D]. :, [6],. UUV [J]., 2011, 32(8): Zhou Jie, Zhou Wen-lin. Research on Recovery Technology of Unmanned Underwater Vehicle Used in Submarine[J]. Journal of Sichuan Ordnance, 2011, 32(8): [7]. AUV [D]. :, ( 责任编辑 : ) 171

34 22 f t = f 0 w t + f r t f w θ t = F cos p - ω 0 t - φ 1 2 f r θ t = F cos p - ω 0 t - φ 2 3 p ω 0 F F φ 1 φ 2 t A B s Fig. 1

34 22 f t = f 0 w t + f r t f w θ t = F cos p - ω 0 t - φ 1 2 f r θ t = F cos p - ω 0 t - φ 2 3 p ω 0 F F φ 1 φ 2 t A B s Fig. 1 22 2 2018 2 Electri c Machines and Control Vol. 22 No. 2 Feb. 2018 1 2 3 3 1. 214082 2. 214082 3. 150001 DOI 10. 15938 /j. emc. 2018. 02. 005 TM 301. 4 A 1007-449X 2018 02-0033- 08 Research of permanent