Autonomous underwater vehicle (AUV) three-dimensional straight path tracking control method with PID (Piping and Instruments Diagram) feedback gain

Abstract

The invention provides an autonomous underwater vehicle (AUV) three-dimensional straight path tracking control method with PID (Piping and Instruments Diagram) feedback gain. The method comprises the following steps of: step 1, initializing; step 2, calculating a relative position deviation between an AUV and a virtual guide point on a desired track under a Serret-Frenet coordinate system through an AUV three-dimensional track tracking error equation; step 3, calculating a virtual controlling quantity of movement speed, a trim angle and a yawing angle of the virtual guide point on the desired track through adopting a backstepping method based on the feedback gain; step 4, calculating a virtual controlling quantity of trim angle speed and yawing angle speed of the AUV; and step 5, deducing an under-actuated AUV three-dimensional path tracking dynamics control law comprising control signals of propeller thrust, a trim control moment and a yawing control moment, and realizing under-actuated AUV three-dimensional straight path tracking control. The method can be used for realizing tracking control on a track point and a straight path track of an AUV three-dimensional space.

Description

technical field [0001] The invention relates to a control method of an autonomous underwater vehicle, in particular to a three-dimensional track point and linear path tracking control method of an underactuated autonomous underwater vehicle. Background technique [0002] Autonomous underwater vehicle (AUV, Autonomous Underwater Vehicle) 3D path-following control has significant advantages over decoupled water level and depth control respectively. Due to the consideration of the coupling effect of the model itself, it can better meet the operational requirements such as the surveying and mapping of the submarine three-dimensional space terrain / landform, the detection of the submarine pipeline, and the tracking and planning of the track. Since the actuators of the autonomous underwater vehicle AUV are usually configured as tail axial The propeller, tail rudder and tail elevator have no direct drive mechanism (such as propeller) in the lateral and vertical directions, so that t...

AI Technical Summary

Problems solved by technology

At present, domestic and foreign researches on AUV tracking control (including track points, trajectories, and paths) mostly focus on tracking control in the horizontal plane, or decouple the three-dimensional tracking control problem into two independent subsystems in the horizontal plane and vertical plane. The controller design is carried out separately. Since the coupled motion model of the six degrees of freedom and the three-dimensional tracking error equation of the AUV are not considered as a whole, the decoupled controller design idea cannot achieve precise tracking control for a given space track.

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