水下航行器控制系统仿真试验研究与应用

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1、分类号密级Y930368学校代号：!Q§!!学号：Q3§盟QQ墅西北工业大学硕士学位论文(学位研究生)作者：赵主主学科专业：武墨丕筮皇运厦王程指导教师：直童缝西北工业大学西安二零零六年三月两北工业大学硕士学位论文ABsTRAcTABSTRACTAnautorlomousunderwaterVehicIe(AUV)isanunmanrled，untethered，undenvatervehiclethatc戤呐esitsownpowersourceandreliesonanon-boardcompute

2、randbuild-inmachineintelligencetoexecuteamissionconsistingofaseriesofpreprograIllmedinsnuctions．ThemOdemAUVsarelong·mnge，intelligent，hardtobediscovered，varymarleuvera_ble，andcostefrective，andhasbroadpotential印plicationisbotht11ecoImercialarldmili协ryfiel

3、ds．Inordertoensllrecompletereliabili魄AUVsoftw甜eandhardwareneedtobefullytestedinthelaboratorybeforeoperationaldcployment．TheHardware—In_the—Loopsimula垃on(HILS)approachincludessome1eVelofsystem’shard、愀alldso凡vareplaysmoreimportantr01einthedevelopmentofanA

4、UVThemostlyworkofmethesisissW吼arizedasfollows：(1)TheadaptivePID(APID)controlisstudiedfortheAUVcontr01．Thecontmlsystemmustbead印tiVetot11euncenainparameterst0overcomethemodeIingerror，uncertaintyof山ehydrodynanlicpar锄etersand蛐ownwaredisturbances．Introducing

5、meadaptiVemethodtothecl嬲sicPIDcontrol，theAPIDinheritsthesimplicilyandpractical姆ofPID，andsatis＆stllefequirementofadaptabilityforAUVcontr01．(2)0ntheneedoftheHILSexperiInentofanAuVthemathematicnonlinearmodelofAUVisweUstIldied，a11dthecorreSpondingsimlllatio

6、nmodel、ⅣimmeintegrationalgorithmandsteplengthisdeVelopedwith‘C’language．(3)TheHILSsys把misdevelopedandtested嘶tlltheAD／RTSreal．timesimulatofasthecenterofthesystem，includingt11edevelopmentAUVsimulationso叠warewithAdvantageIDE，the行equencych怠racteristicsmeasu

7、rememsofmerotate—table．Theemphasisisputont王lestudiesofthereflectivememorynetworkasmeHILSreal．timeco衄unicationnetwork．(4)TheAUVHILSexperimentisintroduced．1kexperimentincludcst11etestingofdepthsensor，staticanddynamictestingofgyro—compassandtlleclosedloops

8、imulationofthecontrolatldguidancesystem．Witll山esimulationdata，meperfom姐ceofcontrolandguidancesystemis柚alyzed，andthetr面ectoriesareplotted．BasedontheAUVHILSexpemnent，tllereal-timeanalysisofmisHILS11西北。【业火学硕十学位论文ABsTRAcTsystcmiscarr