| 喷水推进无人艇的基础运动控制系统设计 |
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| 引用本文： | 吴恭兴,邹劲,万磊,孙寒冰. 喷水推进无人艇的基础运动控制系统设计[J]. 控制理论与应用, 2010, 27(2): 257-262 |
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| 作者姓名： | 吴恭兴 邹劲 万磊 孙寒冰 |
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| 作者单位： | 哈尔滨工程大学水下机器人技术国防科技重点实验室,黑龙江,哈尔滨,150001 |
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| 基金项目： | supported by the State Security Important Basic Project Research Fund(61311101); the State Natural Science Fundation of China(50579007); the State 863 Fund(2008AA092301); Research Fund from National Defence Key Laboratory of Autonomous Underwater Vehicle Technology(2008003). |
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| 摘 要： | 针对欠驱动无人艇开展了其基础运动控制策略设计的研究. 首先详细地介绍了喷水推进无人艇的运动控制系统的构成, 并根据喷水推进器推进原理的特点, 可得出该无人艇系统是欠驱动的、快变的非线性耦合系统; 然后根据人类小脑的运动协调功能, 提出基于倒车斗、喷嘴转角和发动机转速协调控制的仿人智能控制策略, 实现了对无人艇的完全运动控制, 提高了其操纵性和灵活性; 并根据该思想设计了无人艇的基础运动控制系统的软件体系结构. 最后进行了无人艇在各种航行状态下的运动控制仿真试验, 仿真结果表明了该仿人智能运动控制策略的有效性.
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| 关 键 词： | 仿人智能 小脑模型 控制策略 无人艇 喷水推进 |
| 收稿时间： | 2009-06-29 |
| 修稿时间： | 2009-11-19 |
Design of the basic motion control system for water-jet-propelled unmanned surface vehicle |
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| WU Gong-xing,ZOU Jin,WAN Lei and SUN Han-bing. Design of the basic motion control system for water-jet-propelled unmanned surface vehicle[J]. Control Theory & Applications, 2010, 27(2): 257-262 |
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| Authors: | WU Gong-xing ZOU Jin WAN Lei SUN Han-bing |
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| Affiliation: | State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University,State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University,State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University,State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University |
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| Abstract: | Design of the basic motion control strategy for the under-actuated Unmanned Surface Vehicle (USV) is undertaken. Firstly, the motion control system architecture of the water-jet propelled USV is introduced in detail. Accordingto the characteristic of water-jet propulsion principle, the USV system is an under-actuated, time-varying and nonlinear coupled system. Secondly, simulating the coordination control function of the human cerebella, the human-simulate control strategy is proposed based on the coordination control of astern deflector rotating, nozzle rotating and engine rotation speed.So the full controlling of the surface vehicle in various sailing states is achieved, and its manoeuvrability and agility are improved. Then the software architecture for the control system is designed using this idea. Finally, the USV motion control simulation tests are undertaken in di erent sailing states. And the simulation validates the e ectiveness of the human-simulate control strategy. |
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| Keywords: | human-simulate cerebella model control strategy unmanned surface vehicle water-jet propulsion |
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