کنترل یک ربات زیرسطحی جدید با پایداری و مانور پذیری بالا به منظور تعقیب هدف

نوع مقاله : مقاله پژوهشی

نویسندگان

گروه مهندسی مکانیک- دانشگاه حکیم سبزواری

چکیده

شناور زیرسطحی که بتواند مأموریت‌هایی مانند تعقیب، شکار، دنبال و یا همراهی کردن یک ربات یا جاندار سطحی یا زیرسطحی را با دقت مناسب به انجام برساند، باید از مانورپذیری بالایی برخوردار باشد. در این مقاله، یک شناور زیرسطحی جدید نوع هاورینگ به منظور تعقیب یک شئ سطحی و یا زیرسطحی، پیشنهاد و مورد شبیه‌سازی و کنترل قرار گرفته است. شناور زیرسطحی بکار رفته، به کمک الگوریتم‌های کنترلی مناسب قادر است با دریافت اطلاعات لازم از موقعیت هدف، کوتاه‌ترین مسیر لازم برای رسیدن و تعقیب هدف را بپیماید به نحوی که هدف همواره در زاویه‌دید شناور باشد. در این مقاله، کنترل‌کننده بر اساس مدل دینامیکی خطی‌سازی‌شده طراحی و شبیه‌سازی شده و سپس، به مدل دینامیکی غیرخطی اِعمال و اعتبارسنجی انجام شده است. کنترل‌کننده‌ی پیشنهادی دارای سه حلقه می‌باشد: یک حلقه برای کنترل مسیر در صفحه‌ی عمودی، یک حلقه برای کنترل مسیر در صفحه‌ی افقی و کنترل‌کننده سوّم برای کنترل سرعت پیشروی ربات روی مقدار مشخص. به منظور بررسی مقاوم بودن کنترل‌کننده، اثر جریان‌های آبی به صورت نیروهای اغتشاشی به شناور زیرسطحی بررسی شده است.

کلیدواژه‌ها


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