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

An underwater vehicle, straight-line path technology, applied in three-dimensional position/channel control and other directions, can solve the problem of inability to achieve accurate tracking control of a given space track, and achieve the effect of avoiding complex forms and simplifying forms.

Inactive Publication Date: 2012-10-10
三亚哈尔滨工程大学南海创新发展基地
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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 pla

Method used

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

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Example Embodiment

[0029] The following examples further describe the present invention:

[0030] In step 1, calculate the planned straight-line track parameter x′ according to the given desired track point d , Y′ d And z′ d The specific process is

[0031] According to the set adjacent desired path point WP i =(x i ,y i ,z i ) And WP i+1 =(x i+1 ,y i+1 ,z i+1 ) To calculate the parameter x′ of the expected straight track d , ' d And z′ d Specific forms

[0032] x d ′ = dx d ds = x i + 1 - x i

[0033] y d ′ = dy d ds = y i + 1 - y i - - - ( 1 )

[0034] z d ′ = dz d ds = z i + 1 - z i

[0035] So by the point WP i =(x i ,y i ,z i ) And WP i+1 =(x i+1 ,y i+1 ,z i+1 ) The parametric equation of the path connecting the three-dimensional straight line can be expressed as

[0036] x d (s)=x′ d s+x i

[0037] y d (s)=y′ d s+y i (2)

[0038] z d (s)=...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 王宏健陈子印李娟王琳琳李村贾鹤鸣
Owner 三亚哈尔滨工程大学南海创新发展基地
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