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水空两栖多旋翼飞行器出水控制及参数整定
Water outlet control and parameter setting of water-air multi-rotor aircraft
- DOI:
- 作者:
- 李良博1, 杨宇2, 梁爽3, 郭明明2, 李忠广2, 李泽斌2
LI Liang-bo1, YANG Yu2, LIANG Shuang3, GUO Ming-ming2, LI Zhong-guang2, LI Ze-bin2
- 作者单位:
- 1. 大连海事大学, 辽宁 大连 116026;
2. 西南科技大学, 四川 绵阳 621000;
3. 西北工业大学, 陕西 西安 710072
1. Dalian Maritime University, Dalian 116026, China;
2. Southwest University of Science and Technology, Mianyang 621000, China;
3. Northwestern Polytechnical University, Xi'an 710072, China
- 关键词:
- 水空多旋翼跨介质飞行器;出水控制;PID;遗传算法
the cross-media aircraft; water exit control; PID; genetic algorithm
- 摘要:
- 介质跨越是水空多旋翼飞行器的关键运动之一，针对水空多旋翼飞行器的出水问题开展相关研究。首先，建立水空多旋翼飞行器的运动学、动力学模型，重点探究其在水下运动过程中的受力，借助Fluent软件对水空多旋翼飞行器在水下受到的粘性水动力进行分析，并进一步用多项式拟合粘性水动力与速度之间的关系。在此基础上，提出分段变参数PID跨介质控制方法，在Matlab中开展控制仿真实验。最后，引入遗传算法整定PID控制器，并将结果与前者进行对比。实验结果表明：水、空环境突变对PID控制算法影响巨大，分段变参数PID控制方法更加贴合实际跨介质过程；基于遗传算法的PID控制器参数整定方法能有效提高水空多旋翼飞行器跨介质性能。研究结果可为研究潜器跨介质、导弹出水、水空多旋翼飞行器的出入水控制等问题提供研究思路和理论参考。
The medium crossing is one of the key motions of the water-air multi-rotor aircraft, so this paper has carried out related research on the water exit problem of the cross-media aircraft. First, the kinematics and dynamics model of the cross-media aircraft is established, and the force during the underwater movement is mainly explored. With the help of Fluent software, the viscous hydrodynamics of the cross-media aircraft under water was analyzed, and the relationship between the viscous hydrodynamics and speed was further fitted by polynomials. Based on this, in this paper, a piecewise variable parameter PID cross-media control method is innovatively proposed, and the corresponding control simulation experiments are carried out in Matlab. Finally, the genetic algorithm is introduced to tune the PID controller, and the results are compared with the former. The experimental results show that the sudden change of water and air environment has a great influence on the PID control algorithm, and the piecewise variable parameter PID control method is more suitable for the actual cross-media process. The PID controller parameter tuning method based on genetic algorithm can effectively improve the cross-media performance of cross-media aircraft. The research results can provide research ideas and theoretical reference for the research of the cross-medium submarine vehicle, the water discharge of missile, and the water access control of cross-media aircraft.
2023,45(7): 85-92 收稿日期：2022-11-18
DOI：10.3404/j.issn.1672-7649.2023.07.018
分类号：U661.73
基金项目：四川省科技支撑计划项目（2021JDRC0092）、四川省大学生创新创业训练计划（S202210619125）
作者简介：李良博(2002-),男,研究方向为机器人技术
