【摘要】：水下機(jī)器人技術(shù)研究,一直都是各個(gè)國(guó)家的重點(diǎn)研究項(xiàng)目,但主要研究方向大多都是針對(duì)海洋能源探測(cè),針對(duì)內(nèi)陸淺水湖泊探測(cè)的水下機(jī)器人研究卻很少。然而對(duì)于內(nèi)陸湖泊探測(cè)同樣具有很高的研究?jī)r(jià)值,比如對(duì)水壩底部進(jìn)行定期安全檢查、湖底打撈以及湖底地形探測(cè)等,所以對(duì)適用于淺水區(qū)域控制的水下探測(cè)機(jī)器人研究具有很大的實(shí)用價(jià)值。本課題從硬件以及軟件方面對(duì)水下探測(cè)機(jī)器人進(jìn)行研究,并且對(duì)推進(jìn)器控制模塊進(jìn)行了具體的設(shè)計(jì),通過(guò)實(shí)驗(yàn)分析驗(yàn)證推進(jìn)器控制效果。另外本文對(duì)水下探測(cè)機(jī)器人定位導(dǎo)航技術(shù)也做了一定的分析研究,并通過(guò)仿真驗(yàn)證在導(dǎo)航過(guò)程中所選三子樣優(yōu)化算法的正確性;最后對(duì)導(dǎo)航量測(cè)值進(jìn)行卡爾曼濾波處理,通過(guò)仿真實(shí)驗(yàn),驗(yàn)證所選組合導(dǎo)航方法的合理性。本文一共分為六章:第一章介紹水下機(jī)器人國(guó)內(nèi)外的研究現(xiàn)狀,分析水下機(jī)器人的未來(lái)發(fā)展趨勢(shì),并介紹了水下機(jī)器人的定位導(dǎo)航方法。根據(jù)水下機(jī)器人研制方面所遇到的技術(shù)性問(wèn)題,提出自己的研究目的以及研究?jī)?nèi)容。第二章介紹水下探測(cè)機(jī)器人的總體設(shè)計(jì)方案,并從硬件以及軟件方面對(duì)水下機(jī)器人進(jìn)行詳細(xì)的分析,在硬件結(jié)構(gòu)上采用六推進(jìn)器控制模式,另外根據(jù)開源MOOS系統(tǒng)結(jié)構(gòu),設(shè)計(jì)了水下探測(cè)機(jī)器人應(yīng)用的軟件控制系統(tǒng)。第三章介紹水下推進(jìn)器的控制模塊設(shè)計(jì),通過(guò)控制模塊設(shè)計(jì)方案對(duì)比,選擇了通過(guò)6路PWM信號(hào)對(duì)電機(jī)進(jìn)行調(diào)速控制,采用12路正反轉(zhuǎn)使能信號(hào)驅(qū)動(dòng)相應(yīng)電機(jī)正反轉(zhuǎn)的控制方式;另外從控制器的硬件以及軟件部分進(jìn)行設(shè)計(jì),設(shè)計(jì)出能夠正�？刂仆七M(jìn)器轉(zhuǎn)速以及正反轉(zhuǎn)的推進(jìn)器控制模塊第四章介紹捷聯(lián)慣導(dǎo)系統(tǒng)的一些工作原理以及基本算法。建立了導(dǎo)航系統(tǒng)的位置、速度、姿態(tài)更新的數(shù)學(xué)模型,并對(duì)各種算法進(jìn)行數(shù)學(xué)優(yōu)化,并通過(guò)仿真驗(yàn)證所選優(yōu)化算法的合理性。第五章介紹導(dǎo)航過(guò)程中可能出現(xiàn)的諸多誤差,并對(duì)其進(jìn)行詳細(xì)的分析,另外對(duì)導(dǎo)航過(guò)程中所產(chǎn)生的誤差進(jìn)行誤差建模,提出以電子羅盤與深度計(jì)結(jié)合捷聯(lián)慣導(dǎo)系統(tǒng)構(gòu)成組合導(dǎo)航系統(tǒng)的方法。最后量測(cè)值經(jīng)過(guò)卡爾曼濾波處理,用以降低慣導(dǎo)系統(tǒng)的累積誤差,提高導(dǎo)航的精度。第六章主要是對(duì)于本課題所做研究的總結(jié),并對(duì)未來(lái)需要進(jìn)行的更加深入的研究進(jìn)行展望。
[Abstract]:Underwater vehicle technology research has been a key research project in various countries, but the main research direction is mostly focused on ocean energy exploration, but there is little research on underwater vehicle for inland shallow lake exploration. However, the exploration of inland lakes is also of great research value, such as periodic safety inspection of the bottom of the dam, bottom salvage and topography detection, etc. Therefore, the research of underwater detection robot suitable for shallow water area control has great practical value. In this paper, the hardware and software of the underwater detection vehicle are studied, and the thruster control module is designed in detail, and the control effect of the propeller is verified by the experimental analysis. In addition, the positioning and navigation technology of underwater detection vehicle is analyzed and studied in this paper, and the correctness of the algorithm is verified by simulation. Finally, the Kalman filter is used to deal with the navigation measurements. The rationality of the proposed integrated navigation method is verified by simulation experiments. This paper is divided into six chapters: the first chapter introduces the research situation of underwater vehicle at home and abroad, analyzes the future development trend of underwater vehicle, and introduces the positioning and navigation method of underwater vehicle. According to the technical problems encountered in the development of underwater vehicle, this paper puts forward its own research purpose and research contents. The second chapter introduces the overall design scheme of underwater detection vehicle, and analyzes the underwater vehicle in detail from hardware and software aspects, adopts six thrusters control mode in the hardware structure, in addition, according to the open source MOOS system structure, The software control system of underwater detection robot is designed. The third chapter introduces the control module design of underwater thruster. Through the comparison of the control module design scheme, we choose the control mode of motor speed regulation through 6 PWM signals, and use 12 positive and reverse turn signal to drive the corresponding motor forward and backward turn. In addition, the hardware and software of the controller are designed to design the thruster control module which can control the speed of the propeller normally and the forward and backward rotation. In chapter 4, some working principles and basic algorithms of the strapdown inertial navigation system are introduced. The mathematical model of the position, speed and attitude updating of the navigation system is established, and the mathematical optimization of various algorithms is carried out, and the rationality of the selected optimization algorithm is verified by simulation. The fifth chapter introduces the possible errors in the navigation process, and analyzes them in detail. In addition, the error model of the navigation process is carried out. An integrated navigation system based on electronic compass and depth meter combined with strapdown inertial navigation system is proposed. Finally, the measured values are processed by Kalman filter to reduce the cumulative error of inertial navigation system and improve the navigation accuracy. The sixth chapter is a summary of the research on this topic, and the future needs of more in-depth research prospects.
【學(xué)位授予單位】：揚(yáng)州大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242
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本文編號(hào)：2154039