关键词: 带缆遥控水下机器人, 水动力特性, 模糊神经网络, 轨迹控制, 姿态控制, 数值计算

Abstract:

A controller based on an integrated hydrodynamic model of the tethered underwater robot is constructed with the help of FNN ( Fuzzy Neural Network) algorithm and is used to control the trajectory and attitude of the robot in multiple degrees of freedom. Then,in order to remedy the disadvantages of the traditional method of analyzing propeller propulsion,a new method combining the theory of neural network and the computational fluid dynamics technique is proposed for the conversion between the propulsion and the rotating speed. Moreover,an integrated control system,which consists of a FNN controller,a robotic hydrodynamic model and a conversion module of propulsion and rotating speed,is presented for the tethered underwater robot. Finally,the hydrodynamic characteristics of the robot are globally analyzed and calculated by taking into consideration the interaction among different parts of the robot. Numerical simulation results indicate that the proposed system effectively controls the trajectory and attitude of the tethered underwater robot,and that it helps to globally calculate the hydrodynamic response of the underwater robot under corresponding control action.

Key words: tethered underwater robot, hydrodynamic characteristic, fuzzy neural network, trajectory control, attitude control, numerical calculation