【摘要】：隨著陸地上各類資源的日益枯竭,人類將資源開發(fā)與探索轉(zhuǎn)向了自然資源豐富的海洋,開發(fā)和利用海洋資源對人類發(fā)展有著重要意義。自主式水下機器人AUV(Autonomous Underwater Vehicle)具有活動隱蔽性好、巡航范圍大、機動性能好、安全、智能化等優(yōu)點,成為一種完成水下資源調(diào)查、勘探、情報搜集的重要工具,對水下機器人的研究成為各國軍事以及商業(yè)領(lǐng)域的研究熱點。近年來,隨著技術(shù)的發(fā)展與成熟,AUV的發(fā)展趨勢偏向于深海、遠海、輕量化,同時功能更加強大。更多的微小型AUV開始出現(xiàn),用以滿足與日俱增的軍事和商業(yè)用途。本文在參考國內(nèi)外已經(jīng)研制成功的AUV的基礎(chǔ)上,提出了一種“微型低成本便攜式AUV”的設(shè)計思想,該微型AUV利于攜帶,具有裝卸方便、成本低廉、重復(fù)使用率高等特點,可搭載多種傳感器以實現(xiàn)不同功能。本文重點對該微型AUV的機械結(jié)構(gòu)以及電控系統(tǒng)進行詳細設(shè)計,同時對自主航行中路徑規(guī)劃算法進行了初步研究,為后續(xù)機械系統(tǒng)和電控系統(tǒng)升級,以及AUV自主航行研究(如定位、導(dǎo)航、避障等)奠定了基礎(chǔ)。本文主要研究內(nèi)容如下:(1)微型AUV機械結(jié)構(gòu)設(shè)計:AUV外形采用了魚雷形狀流線型結(jié)構(gòu),該結(jié)構(gòu)具有外形尺寸較小,重量較輕,機動性能好以及航行范圍廣等特點。材料選用不銹鋼及PVC等耐腐蝕材料,以保證結(jié)構(gòu)的可靠性和穩(wěn)定性,在密封上,采取O型圈密封的方式,以達到良好的密封效果。該微型AUV采用單推進器配合三個方向舵的方式來實現(xiàn)該微型AUV的6個自由度動作。完成了機械機構(gòu)的加工與組裝等工作。(2)微型AUV總體控制系統(tǒng)設(shè)計:該微型AUV控制系統(tǒng)主要功能模塊包括主控模塊、電源管理模塊、導(dǎo)航模塊、電機驅(qū)動模塊等,基于實際需求提出各模塊的關(guān)鍵技術(shù)指標,完成各個模塊及整體電路的設(shè)計,并根據(jù)實際需求完成了對電池及相關(guān)控制芯片的選型工作。(3)AUV運動控制、路徑優(yōu)化算法設(shè)計與仿真研究:根據(jù)AUV水下六自由度運動特性,定義了微型AUV的固定坐標系和運動坐標系,分析了微型AUV在水下的受力情況,包括重力、浮力、推力等,依據(jù)牛頓動量定律,建立了微型AUV空間運動方程�；诮⒌乃畡恿δＰ�,采用PID控制算法進行該AUV運動控制仿真。規(guī)劃微型AUV工作路徑時采用了蟻群算法作為最優(yōu)路徑解決辦法并進行了仿真研究。對確定的若干給定任務(wù)點進行遍歷性巡航,使遍歷時間最短,以達到節(jié)約能源、提高安全返航幾率為目的。(4)微型AUV的水下實驗:1、對完成總裝的AUV進行了水下密封試驗,以驗證機械結(jié)構(gòu)設(shè)計中的密封設(shè)計的可靠性和安全性,實驗結(jié)果表明在目標水深的情況下,密封良好,使用安全;2、運動控制實驗:水下上電,完成對微型AUV進行了直線、轉(zhuǎn)彎、上浮、下潛動作的實驗,實驗證明該AUV能夠完成期望的目標動作,該AUV結(jié)構(gòu)設(shè)計可用性。最后,安裝相關(guān)導(dǎo)航設(shè)備及傳感器,對AUV進行了現(xiàn)場測試。在水質(zhì)較好且無浪潮時,AUV能夠平穩(wěn)運行,系統(tǒng)穩(wěn)定。在浪潮較大或水質(zhì)較為渾濁時,傳感器工作精度受到影響且自身不易穩(wěn)定。上述總體實驗結(jié)果表明,該微型AUV設(shè)計合理,能夠完成預(yù)期動作,達到預(yù)期要求。
[Abstract]:With the depletion of all kinds of resources on land, human resource development and exploration have shifted to the rich marine resources of natural resources, and it is of great significance to develop and utilize marine resources for human development. Autonomous Underwater Vehicle (AUV) has the advantages of good activity, large cruise range, good mobility, safety and intelligence. It is an important tool to complete the investigation, exploration and information collection of underwater resources. The research of the underwater robot has become a hot spot in the military and commercial fields of all countries. In recent years, with the development and maturity of technology, the development trend of AUV is in favor of the deep-sea, the far-sea, the light-weight, and the function is more powerful. More micro-small AUV starts to appear to meet increasing military and commercial use. On the basis of the AUV, which has been successfully developed at home and abroad, this paper presents a "Minitype low-cost portable AUV" design idea, which is beneficial to carry, has the characteristics of convenient loading and unloading, low cost, high repetition rate and the like, and can carry a plurality of sensors to realize different functions. In this paper, the mechanical structure of the micro-AUV and the electric control system are designed in detail. At the same time, the path planning algorithm of the autonomous navigation is studied, which is a follow-up mechanical system and an electric control system upgrade, and the AUV autonomous navigation research (such as positioning, navigation, The barrier, etc.) lays the foundation. The main contents of this paper are as follows: (1) Micro-AUV mechanical structure design: The shape of the AUV is a streamlined structure. The structure has the characteristics of small size, light weight, good mobility and wide range of navigation. The material is made of corrosion-resistant materials such as stainless steel and PVC, so as to ensure the reliability and stability of the structure. On the seal, an O-ring seal is adopted to achieve a good sealing effect. The micro-AUV realizes the 6-degree-of-freedom operation of the micro-AUV by using a single-propeller and three rudders. And the processing and assembly of the mechanical mechanism are completed. (2) The general control system of the micro-AUV control system is designed as follows: the main functional module of the micro-AUV control system comprises a main control module, a power supply management module, a navigation module, a motor driving module and the like, And the selection of the battery and the related control chip is completed according to the actual requirement. (3) AUV motion control, path optimization algorithm design and simulation study: According to the six-degree-of-freedom motion characteristics of AUV, the fixed coordinate system and the motion coordinate system of the micro-AUV are defined, and the stress of the micro-AUV under water is analyzed, including gravity, buoyancy, thrust, etc. Based on the Newton's law of momentum, a micro-AUV space motion equation is established. Based on the established hydrodynamic model, the AUV motion control simulation is carried out with the PID control algorithm. The ant colony algorithm is used as the optimal path solution and the simulation research is carried out when the micro-AUV working path is planned. And the ergodic cruise is carried out on the determined plurality of given task points, so that the traversal time is the shortest so as to achieve the purpose of saving energy and improving the safety return probability. (4) The underwater experiment of the micro-AUV:1. The underwater sealing test is carried out on the AUV of the final assembly to verify the reliability and safety of the sealing design in the mechanical structure design. The experimental results show that the sealing is good and the safety is used in the case of the water depth of the target. The experiment shows that the AUV can achieve the desired target action and the usability of the AUV structure. Finally, the relevant navigation equipment and sensors are installed, and the on-site test is carried out on the AUV. When the water quality is good and there is no wave, the AUV can run smoothly and the system is stable. When the tide is large or the water quality is relatively turbid, the working precision of the sensor is affected and is not easy to be stable. The above general experimental results show that the micro-AUV is reasonable in design, capable of completing the expected action and meeting the expected requirements.
【學(xué)位授予單位】：上海海洋大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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