Compound posture and orbit control method for underwater vehicle

Abstract

The invention relates to a compound posture and orbit control method for an underwater vehicle. The compound posture and orbit control method for the underwater vehicle is used for solving the limitation that the posture and orbit control of the underwater vehicle only depends on the hydrodynamic force. According to a temporal-scale difference between a hydrodynamic force control and a vectorial force control, a system is divided into a slow link and a fast link based on the singular perturbation method and the sliding mode variable structure control technology, a linear feedback control law of the compound posture and orbit control matched with a synovium theory is designed, the accelerated speed and the the pitch angle rate of the vehicle are taken as response parameters, so that the posture and orbit adjustment time can be effectively reduced, and the stability and the maneuverability of a whole system are improved. The compound posture and orbit control method for the underwater vehicle has the advantages that the dynamic response performance of the vehicle is improved and the stability of the vehicle is increased.

Description

technical field [0001] The invention belongs to the field of underwater vehicle control, and in particular relates to a composite attitude-orbit control method of an underwater vehicle, which utilizes hydrodynamic force and vector force to realize the composite attitude-orbit control method. Background technique [0002] An underwater vehicle is a vehicle that sails underwater, including manned underwater vehicles and unmanned underwater vehicles. It can complete underwater exploration, detection, and even military use for anti-submarine warfare and mine warfare. , reconnaissance and surveillance, and logistical support tasks. Now that ocean development is becoming more and more important, underwater vehicles are getting more and more attention from various countries, and they play an important role in both civilian and military use. Usually, the attitude control of underwater vehicles is realized by traditional steering gear and propellers and other equipment. According to...

AI Technical Summary

Problems solved by technology

[0004] 1. Only relying on hydrodynamics to control attitude is easily affected by ocean currents and turbulence, resulting in errors that cannot be converged;

[0005] 2. The use of hydropower to adjust the attitude and trajectory is slow, which cannot meet the requirements of fast maneuvering;

[0006] 3. Especially when navigating in the form of supercavitation, the aircraft and seawater only have contact with the cavitator at the head and the end of the steering gear. The aircraft itself is wrapped in the cavitation and does not contact the water. The traditional rudder Engines and propellers are very limited

The above defects greatly restrict the use of underwater vehicles

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