全姿态水下移动平台模式切换姿态控制研究

为了适应复杂海洋环境中多样性的观探测任务需求，本文提出了一种融合Argo浮标、水下滑翔机（Glider）和自治式水下机器人（Autonomous Underwater Vehicle,AUV） 3种工作模式的全姿态水下移动平台（All-attitude Multimode Underwater Vehicle,AMUV）。首先，基于3种水下移动平台的工作原理，建立了AMUV的六自由度动力学模型；然后，针对动力学模型中的非线性耦合特性及模式切换过程中的驱动位形变化等问题，基于比例、积分、微分控制器（Proportional Integral Derivative,PID）与模糊控制概念，设计了不依赖于数学模型的自适应模糊PID姿态控制器，实现了AMUV多模式切换过程中的姿态控制；最后，开展多模式切换控制仿真实验，将自适应模糊PID控制器与传统PID控制器仿真结果进行对比，并设计了全模式任务工况，仿真结果表明，本文提出的控制器能够精确和稳定地控制AMUV进行多种工作模式的相互切换。

Research on Attitude Control in Mode Switching of All-attitude Multimode Underwater Vehicle

In order to adapt the requirements of diverse observation and exploration tasks in complex marine environment, an All-attitude Multimode Underwater Vehicle (AMUV) was proposed in this paper, which integrates three operating modes: Argo buoy, underwater Glider and Autonomous Underwater Vehicle (AUV). Firstly, a six-degree-of-freedom dynamic model of AMUV was established based on the working principles of three underwater vehicles. Then, aiming at the nonlinear coupling characteristics of the dynamic model and the driving configuration changes in the process of mode switching, an adaptive fuzzy robust PID attitude controller independent of the mathematical model was designed to realize the pitch angle control in the process of AMUV multi-mode switching. Finally, multi-mode switching control simulation experiments were carried out to compare the simulation results of the adaptive fuzzy PID controller and the traditional PID controller, and an all-mode task condition simulation experiment was designed. The simulation results verified that the proposed controller could accurately and stably control AMUV for mode switching.