Autonomous underwater vehicle vertical plane under-actuated motion control method

A technology of motion control and vertical plane, applied in the direction of three-dimensional position/channel control, etc., to achieve the effect of suppressing external environment interference, suppressing sensor noise interference, and overcoming nonlinearity

Inactive Publication Date: 2010-09-15
HARBIN ENG UNIV
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Problems solved by technology

Although this document does not optimize ADRC paramete...

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  • Autonomous underwater vehicle vertical plane under-actuated motion control method
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  • Autonomous underwater vehicle vertical plane under-actuated motion control method

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Embodiment Construction

[0036] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0037] combined with Figure 5 , attached Figure 6, the specific implementation steps of the ADRC method based on the adaptive neuro-fuzzy reasoning system in the underactuated motion control of the AUV vertical plane can be expressed as:

[0038] 1. Initialize the AUV and complete the initialization of the position and attitude of the AUV;

[0039] 2. The top-level control computer sends missions and completes the overall plan;

[0040] 3. The motion control computer receives the sensor feedback information, and uses the ADRC based on the adaptive neuro-fuzzy reasoning system to perform control calculation;

[0041] 4. From the desired AUV depth ζ 0 (t) and trim θ 0 (t) As the input signal of the tracking differentiator, the information of depth ζ(t) and pitch θ(t) obtained by each sensor is used as the input signal of the extended state observer, and the o...

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Abstract

The invention provides an autonomous underwater vehicle (AUV) vertical plane under-actuated motion control method, which comprises the steps that: (1) initialization setting is performed on the AUV; (2) a top-layer control computer transmits a mission and finishes the global planning; (3) a motion control computer receives the feedback information of a sensor, performs control calculation by using a self-adaptive neuro-fuzzy inference system-based auto-disturbance rejection controller, and outputs a control command, namely an elevator angle delta s of the stern; (4) a steering engine executes the control command, finishes the coordination control of AUV depth and pitch attitude, and realizes the motion control under the AUV vertical plane under-actuated constraint; and (5) whether the mission is finished is judged, if the mission is finished, the data is saved and the voyage is ended, and if the mission is not finished, the control command is continuously calculated by the motion control computer. The AUV vertical plane under-actuated motion control method is suitable for the under-actuated, strong-coupling and complex motion relationship of the AUV in the vertical plane motion process, and can realize precise motion control.

Description

technical field [0001] The invention relates to a control method of an underwater moving body. Specifically, it is a method for controlling underactuated motion in the vertical plane of an unmanned underwater vehicle. Background technique [0002] Unmanned underwater vehicle (AUV) motion control technology has always been a very complicated problem that plagues AUV technicians. Although the general motion problem of AUV in the vertical plane is only a special case of general motion in space, it is a practical and typical common motion form, so it is of great significance in the research of AUV motion and modeling. AUV vertical plane movement has the characteristics of underactuation and strong coupling. The interference of ocean currents on the vertical plane is more complicated. The large angle of attack becomes deeper and how to ensure the quality of control, especially the problem of depth overshoot needs special attention. [0003] With the development of control theor...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 施小成陈江徐健严浙平
Owner HARBIN ENG UNIV
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