| 引用本文: | 张少伟,俞建成,张艾群.水下滑翔机垂直面运动优化控制[J].控制理论与应用,2012,29(1):19~26.[点击复制] |
| ZHANG Shao-wei,YU Jian-cheng,ZHANG Ai-qun.Optimal control for underwater gliders in the vertical plane[J].Control Theory and Technology,2012,29(1):19~26.[点击复制] |
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| 水下滑翔机垂直面运动优化控制 |
| Optimal control for underwater gliders in the vertical plane |
| 摘要点击 2648 全文点击 2336 投稿时间：2010-12-05 修订日期：2011-04-20 |
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| DOI编号 10.7641/j.issn.1000-8152.2012.1.CCTA101393 |
| 2012,29(1):19-26 |
| 中文关键词 水下滑翔机 切换控制 最优控制 |
| 英文关键词 underwater gliders switching control optimal control |
| 基金项目 国家“863”计划资助项目(2006AA092157); 机器人学国家重点实验室资助项目(RLZ200810); 中国科学院创新工程资助项目(KZCX2–YW–JS205). |
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| 中文摘要 |
| 水下滑翔机是一种依靠水动力和净浮力驱动的新型水下机器人. 本文分析了滑翔机在垂直面滑翔时, 浮力变化和内置可动质量块位置变化对滑翔机运动状态的影响．针对滑翔机在潜浮切换时, 由于机翼受力不对称产生的无升力现象而导致的切换过程不稳定的问题, 采用两点边值的优化控制方法, 规划了内置质量块的位量, 以消除滑翔机在潜浮切换过程中各个时刻产生的不对称无升力现象．最后给出了滑翔机实际机械系统可接受的最优控制
方案. 仿真表明了这种优化方法的有效性. |
| 英文摘要 |
| Underwater glider driven by net buoyancy and hydrodynamic forces is a new type of underwater vehicle. We investigate the variation of glider’s motion states in different net buoyancies and with different positions of inner movable mass. When a glider switches from diving downward to upward, the “stall”(loss of lift) phenomenon occurs asymmetrically on the glider’s wings. To eliminate this phenomenon, we use the Hamilton function in the two-point boundary problem model of switching to develop a program for manipulating the positions of inner movable mass to balance the asymmetrical stall phenomenon produced in any instance during the switching process. Finally, an optimal applicable control project is developed for controlling the glider’s actual mechanical system. Simulations validate the efficacy of the proposed optimal control method. |