水下機器人路徑跟蹤的非線性控制虛擬仿真研究.pdf

1、哈爾濱工程大學(xué)碩士學(xué)位論文水下機器人路徑跟蹤的非線性控制虛擬仿真研究姓名：張健申請學(xué)位級別：碩士專業(yè)：控制理論與控制工程指導(dǎo)教師：張利軍201203ABSTRACTAsthecomputerscienceprogressesvirtualsimulationtechnologyhasbeendevelopedsuccessfullyTheadvantagesofvirtualsimulation，suchas，safeandconven

2、ientoperationhighinteractivityandnaturesenseofrealitymakeittobeanewexperimentplatformforscienceresearchTheproblemofsimulationonunderwatervehiclespathfollowingcontrolhasbecomeafocusinthisfieldNeedlesstosaythetraditionalex

3、perimentwiththerealfacilityisthemosttruthfulandfaithfulmethodHoweverthiskindofexperiment，whichconsumesalotoflaborpowerphysicalresources，financialresources，costsmuchtimeandinvestmentInadditiontheunderwaterunknownfactorsma

4、ycausedamagetothevehiclesConsiderallthestatementsabove，thevirtualsimulationmethodforstudyingpathfollowingcontrolisproposedThispaperdiscussesamethodforstudyingpathfollowingcontrolalgorithmsofunderwatervehiclebasedonvirtua

5、lsimulationThevirtualsimulationsysteminthispaperisbuiltonapersonalcomputer，VisualC60isselectedtobethesoftwareplatformOnonehand，thevirtualenvironmentofunderwaterisconstructedwithMultiGenCreatorVegaandOpenGL，ontheotherhand

6、，MATLABisadopted，throughmix—programming，asthecalculatingtoolforthesystemVirtualsimulationfortheAUVtrackingverticaland3DdesiredpathwithgivencontrollersiscarriedoutThespecificworkofthispaperisstatedasfollowing：Firstlyintro

7、ducetheideaofexploitingthisvirtualsimulationsystemandtheconnectorsofbetweenVCandothersoftwareinthesystemVegaAPIandOpenGLiscalledtocompletetheinterfaceinMFCThesystemmodelandcontrolalgorithmsiscalculatedinMATLAB，andusedinV

8、CthroughmixprogrammingwithCOMSecondly3Dmodelofunderwatervehicleandsea—floorreliedareconstructedinMultiGen—CreatorandotherenvironmentfactorsofvirtualsimulationarefoundedinVegaThen，themodelofAUVinverticalplaneisbuiltABacks

9、teppingcontrollerforunderactuatedAUVdesignedon2DSFisemployedinthisvirtualsimulationsystemThemovementofAUVinvirtualsceneisanalyzedtOprovethevalidityofcontrolalgorithmFinally，themodelofAUVin3DspaceisbuiltABacksteppingcontr