摘要自治水下机器人 AUV 是一种不需与母船连接，在水下能够自主地实现自身 运动和操作的智能装置，相比于有缆机器人，AUV 不需要水面支持系统，大大 减少了资金消耗。这些优点，使得 AUV 开始在经济和军事领域中崭露头角。然 而，由于 AUV 自身运动具有高度的非线性和较强耦合性，加上海底各种不确定 干扰因素，给 AUV 的运动控制带来了很大的难度。故要设计一种合适可靠的控 制方法来实现对 AUV 姿态控制。83855

首先，本文研究了一种模糊滑模控制策略，既保持了模糊控制器的优点，即 不依赖系统的模型，柔化控制信号，消除滑模控制的抖动，同时又能够发挥滑模 变结构控制的优势，简化系统结构复杂性。通过二者的结合，成功实现了对 AUV 的运动控制功能。其次，AUV 的 6 自由度之间是相互耦合的，且存在非线性， 其水下运动规律十分复杂。在构建运动数学模型时，由于 AUV 水下运动速度比 较缓慢，能够忽略 AUV 水平和垂直两个平面之间的耦合关系，所以将 AUV 水 下运动分为水平和垂直两个平面来讨论。再次，对于水平面运动，用模糊自适应 控制实现对航迹的控制，基于切换模糊化的滑模变结构控制实现对航向的控制； 对于垂直面运动，用基于等效控制的滑模滑模结构控制实现对 AUV 的姿态控制。 最后，利用计算机仿真验证上述方法的可操作性和有效性。

毕业论文关键字：AUV；水平面控制；垂直面控制；模糊滑模控制；Matlab

Abstract Autonomous underwater vehicle AUV is a intelligent devicewhichdoes not need to be connected with the mother ship,and can independently realize their movement and operation under water 。Compared to a cable robot ,AUV doesn't need water support system, greatly reducing the cost。 These advantages, the AUV began to emerge in the economic and military field。 However, due to the self motion of AUV has highly nonlinear and strong coupling, and underwater has variousuncertain factors interference, which brings great difficulty to the motion control of AUV。 Therefore, Weneed to design a suitable and reliable control method to realize the control of AUV attitude。

First, this paper proposes a fuzzy sliding mode control strategy,which can not only maintain the advantages of fuzzy controller, i。e not depending on the system model, softening control signal, eliminating the chattering, but also can play the advantages of sliding mode variable structure control, simplifying the complex system structure。 Through the combination of the two ways, successfully realize the AUV motion control functions。 Secondly, the 6 degrees of freedom of AUV are coupled, and nonlinear motion law, the water is very complicated。 In the construction of mathematical model, the velocity of AUV under water is relatively slow, We can ignore the AUV coupling relationship between horizontal and vertical two planes, so

we pide the water movement of AUV into horizontal and vertical planes to discuss。 Thirdly, for the horizontal motion, proposing a fuzzy adaptive sliding mode way to control, fuzzy sliding mode variable structure control based on For the control of the vertical motion, a sliding mode control based on equivalent control is proposed to realize the attitude control of the AUV。 Finally, computer simulation is used to verify the operability and effectiveness of the proposed method。

Keywords ： AUV; Horizontal control; Vertical control; Fuzzy sliding mode control; Matlab

目 录

第一章 绪论 1

1。1 课题研究背景和意义 1

1。2 AUV 国内外研究现状 2

1。2。1 国内研究现状