本文選題：多自由度 + 水下航行器��； 參考：《中國科學技術(shù)大學》2016年碩士論文

【摘要】：無人水下航行器在軍事、民用等各領(lǐng)域都有廣泛的應(yīng)用前景,相比于傳統(tǒng)的螺旋槳推進,模仿魚類游動等的仿生推進方式在效率、隱蔽性及機動性上表現(xiàn)出了更加明顯的優(yōu)勢。但同時尾鰭擺動等方式具有橫向力較大、推進力周期變化等特點,推進穩(wěn)定性不盡如意,增加運動自由度如長鰭波動方式,有望顯著增強穩(wěn)定性。本文針對多自由度組合仿生推進方式,分析其推進能力,設(shè)計基于中樞模式發(fā)生器(CPG)的控制系統(tǒng),具體工作包括：1.基于CPG中的相位振蕩器模型,設(shè)計了針對四尾鰭、八舵機的控制系統(tǒng)。分析了各耦合系數(shù)對振幅、偏移量和相位差的收斂速度的影響,討論了多個控制目標參數(shù)同時變化時CPG模型的響應(yīng)特性。結(jié)果表明,CPG模型在目標參數(shù)變化時可以快速、穩(wěn)定的收斂到新狀態(tài),且實現(xiàn)了航行器偏航、俯仰的自動反饋控制。2.基于商業(yè)計算軟件Fluent,采用動網(wǎng)格,由數(shù)值模擬對自由游動狀態(tài)下的雙長鰭波動推進模型進行了考察。從推力、側(cè)向力以及功率等方面考察了頻率、振幅、波數(shù)和鰭高鰭長比等參數(shù)對組合長鰭波動推進能力的影響,以對波動長鰭組合推進樣機研制參數(shù)的選取提供一定的指導。3.針對四長鰭推進樣機設(shè)計了CPG控制系統(tǒng)。對4組、36個舵機建立了相應(yīng)的CPGs拓撲結(jié)構(gòu)；以PIC單片機為控制芯片、陀螺儀為傳感器,建立了航向反饋控制方案。仿真結(jié)果表明,各機動動作間的轉(zhuǎn)換均可以在一個周期內(nèi)實現(xiàn)；反饋控制力矩根據(jù)偏離角度自適應(yīng)調(diào)節(jié),以保證模型游動時的穩(wěn)定性。
[Abstract]:Unmanned underwater vehicle (AUV) has a wide application prospect in military, civil and other fields. Compared with the traditional propeller propulsion and the imitation of fish swimming, the bionic propulsion mode shows more obvious advantages in efficiency, concealment and maneuverability. But at the same time, the caudal fin swinging has the characteristics of large transverse force and periodic variation of propulsion force, so the stability is not satisfactory, and the stability is expected to be significantly enhanced by increasing the degree of freedom of motion, such as the undulating mode of the long fin. In this paper, a control system based on central mode generator (CPG) is designed based on the analysis of the propulsion capability of multi-degree-of-freedom combined bionic propulsion. The specific work includes: 1. Based on the phase oscillator model in CPG, the control system for four tail fin and eight steering gear is designed. The effects of coupling coefficients on the convergence rate of amplitude, offset and phase difference are analyzed, and the response characteristics of CPG model are discussed when the parameters of multiple control targets change simultaneously. The results show that the CPG model can converge to the new state quickly and stably when the target parameters change, and realize the automatic feedback control of vehicle yaw and pitch. 2. Based on the commercial computing software Fluent. the numerical simulation is used to investigate the double albacore wave propulsion model in free swimming state by using moving grid. The effects of frequency, amplitude, wavenumber and fin-height ratio on the undulating propelling ability of the combined long-fin are investigated from the aspects of thrust, lateral force and power, which provide some guidance for the selection of the parameters of the combined long-fin propulsion prototype. A CPG control system is designed for the quadrangle propulsion prototype. The corresponding CPGs topology is established for 36 steering machines in 4 groups, and the heading feedback control scheme is established with PIC microcontroller as the control chip and gyroscope as the sensor. The simulation results show that the conversion between maneuvering actions can be realized in one period, and the feedback control torque is adjusted adaptively according to the deviation angle to ensure the stability of the model.
【學位授予單位】：中國科學技術(shù)大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：U674.941
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本文編號：1904648