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Underactuated Auv adaptive trajectory tracking control device and control method

A technology of trajectory tracking and control device, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of large energy consumption of the system, not considering the uncertainty of model parameters, and high cost of the propeller, and achieve the guarantee The effect of reliable operation, reduced energy consumption and improved propulsion efficiency

Inactive Publication Date: 2011-12-28
HARBIN ENG UNIV
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Problems solved by technology

For underwater robots, the cost of the propeller is very high and consumes a lot of energy in the system, so most of the current underwater robots are under-actuated
(2) Influence of propulsion efficiency
Jiang, 2002 proposed a global tracking control problem based on Lyapunov's direct method for underactuated surface ships, but did not consider the uncertainty of model parameters

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  • Underactuated Auv adaptive trajectory tracking control device and control method
  • Underactuated Auv adaptive trajectory tracking control device and control method
  • Underactuated Auv adaptive trajectory tracking control device and control method

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Embodiment Construction

[0027] The present invention is described in detail below:

[0028] figure 1 The composition of the underactuated AUV adaptive trajectory tracking control device of the present invention is given.

[0029] exist figure 1 The devices represented by each number in the figure are as follows: 1-reference path generator; 2-underwater robot AUV; 3-measurement element; 4-position, angle sensor; 5-linear velocity, angular velocity sensor; 6-diffeomorphic converter; 7-Earth coordinates to hull coordinates converter; 8-underactuated term compensator; 9-linear velocity virtual controller; 10-angular velocity virtual controller; 11-parameter estimator; 12-parameter θ 1 → theta 4 Estimated value; 13 - parameter θ 5 → theta 10 Estimated value; 14-controller; 15-longitudinal thrust controller; 16-turning bow moment controller.

[0030] combine figure 1 , the underactuated AUV adaptive trajectory tracking control device of the present invention includes a reference path generator 1, a ...

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Abstract

The invention provides an underactuated autonomous underwater vehicle (AUV) adaptive trajectory tracking control device and a control method. The practical positions and the course angles of an AUV which are acquired to a measurement element (3) and reference positions and reference course angle information which are generated by a reference path generator (1) are converted through a diffeomorphism converter (6) to obtain new state variables, then the new state variables and speed and angular speed information which is acquired by a sensor (5) are transmitted to a parameter estimator (11) anda longitudinal thrust and course changing moment controller (14), and a control command is obtained through resolving to drive an actuating mechanism to adjust the longitudinal thrust and the course changing moment of the AUV. By using the underactuated AUV adaptive trajectory tracking control device, the inertial mass parameters of the AUV and hydrodynamic damping parameters are not required to be known and the goal of arriving at designated positions at designated time according to designated speed is realized. Since the AUV considered in the invention is underactuated, the energy consumption and the manufacturing cost of a system can be reduced, the weight of the system can be reduced and the propulsion efficiency can be improved.

Description

technical field [0001] The invention is an AUV trajectory tracking control device, and the invention also relates to an AUV trajectory tracking control method. Specifically, it is a trajectory tracking control device and method for an underactuated AUV under the condition that model parameters are unknown based on nonlinear control theory. Background technique [0002] The main reasons for the underactuation of underwater robots are as follows: (1) Reduce cost and weight. For underwater robots, the cost of the propeller is very high and consumes a lot of system energy, so most of the current underwater robots are under-actuated. (2) The impact of propulsion efficiency. When the forward speed of the fully-driven underwater vehicle increases, the thrust reduction of the channel thruster will become more and more serious, and the movement on this degree of freedom is difficult to predict. (3) The need for system reliability. Full drive becomes under-actuated when one or mor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 夏国清杨莹夏天赵为光
Owner HARBIN ENG UNIV
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