仿生型自主式水下載具胸鰭與尾鰭之協調循跡控制器設計

Abstract

仿生型自主式水下載具(BAUV) 研究的主要目的為發展一具高效率、省能、輕巧和高操控性的仿生型水下載具。 本文提出一種能協調胸鰭與尾鰭的協調控制方法，以高操控性能為目標，使載具的運動在水中更靈活。本文首先探討仿生型自主式水下載具的平面數學模型，求得胸鰭與尾鰭運動參數與載具動關係之的特性曲線，並依據此特性曲線提出協調控制器設計之方法，以整合胸鰭與尾鰭的運動。模擬與實驗結果包括：高速游泳、低速巡航、循跡控制、轉彎、減速與水中停留。模擬與實驗的結果證實以本文提出之協調控制器設計方法，能改善仿生型自主式水下載具的操控性能。 關鍵詞：自主式水下載具, 非線性控制, 循跡控制, 水下技術, 尾鰭, 胸鰭, 魚類游泳

The work described in this thesis is part of a multi-year research project to develop a Biomimetic Autonomous Underwater Vehicle (BAUV). Our purpose is to develop a biomimetic submarine with a high swimming efficiency, and is highly maneuverable. A planar model of the BAUV is firstly described. Parameters that are suitable for control the surge speed and turning rate are then identified for both body/caudal fin, and for a pair of pectoral fins. A coordinated controller for integration of the tail fin and pectoral fins is then proposed. Swimming performances of the control system using the proposed control architecture are then examined by simulations and water tank experiments. The control approach adopted in this thesis is easy to implement. Only a few parameters are required. Furthermore, it combines two swimming mechanisms for high speed swimming and low speed hovering. Waypoint tracking, turning, hovering and braking behaviors of the BAUV are then demonstrated. Keywords: AUV, nonlinear control, tracking, underwater technology, caudal fin, pectoral, fin, fish swimming