臺灣博碩士論文加值系統

本文以MARINE VEGA水下無人載具為基礎在水平方向左右螺槳上各加
一個舵機為受控系統,利用修正型極座標(MP)濾波器為感測器改善加速儀
定位之誤差,整個循軌控制是以電腦模擬.其中控制器設計方面,提出位置
相位圖將誤差向量轉換成與船首方向夾角修正量,同時引入模糊PD控制器,
利用操船經驗設計出位置誤差修正控制器及方向誤差修正控制器.針對水
平方向推力控制,利用本文所提出之位置落後判定圖設計出推力控制器.而
深度控制方面為了有效改善模糊PD控制器於長距離落後追循,反應時間過
慢,提出修正型模糊PD控制器.最後再針對MP濾波器之可觀測性做深入的討
論.

Dynamics of a Remotely Operated Vehicle (R.O.V.) propelled
by a pair of -ters and rudders for plannar motion and a pair of
thrusters in the verticaldirection is described. To achieve
tracking control,fuzzy controllers were pro-posed for motion
control and a bearing-only method based on Modified Polar coor-
dinate was used for position estimation. Simulation was
conducted to verify thefeasibility of this closed loop control
algorithem. Based on the assumption that the roll and pith
motions are negligible, theplannar motion and the vertical
motion are decoupled. Fuzzy controllers were designed for the
plannar and the vertical motions, respectively. The plannar
motion control was further divided into thruster control and
rudder control. Position and velocity errors between R.O.V. and
the moving reference input were used for thruster cintrol.
Bearing angle difference between R.O.V. heading and the moving
direction of reference input was used for rudder control. To
simplify the under-water position estimation, a bearing-only
trackingtechnique was employed. The conditions for observability
of this observer weresummaried