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UUV trajectory sight guiding method with sideslip angle considered under condition of environmental disturbance

A technology of environmental interference and sideslip angle, which is applied in two-dimensional position/track control and other directions, can solve the problems of stable track error by sight guidance method, and achieve the effect of eliminating stable track error and accurate tracking.

Inactive Publication Date: 2015-07-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of stable track error in the existing line of sight guidance method, the present invention

Method used

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  • UUV trajectory sight guiding method with sideslip angle considered under condition of environmental disturbance
  • UUV trajectory sight guiding method with sideslip angle considered under condition of environmental disturbance
  • UUV trajectory sight guiding method with sideslip angle considered under condition of environmental disturbance

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Experimental program
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Effect test

specific Embodiment approach 1

[0020] Specific implementation mode one: combine figure 1 Description of this embodiment, the UUV track line-of-sight guidance method considering the sideslip angle under environmental interference, includes the following steps:

[0021] step one:

[0022] For an open water area, the track of UUV can be expressed as a series of track points {P 1 ,...,P k-1 ,P k ,...,P n} in the form of sequential connection; assuming that a straight line segment formed by two adjacent track points is P k-1 P k , where P k-1 and P k are the starting point and end point of the straight line segment respectively; here define P k is the turning point of the UUV track, that is, when the current position of the UUV is at P k as the center of the circle, with R accept When within a circular neighborhood with a radius of , the desired track of the UUV is switched to P k P k+1 The straight line segment, that is, the starting point of UUV is updated to P k , the end point is updated to P k...

specific Embodiment approach 2

[0029] Specific embodiment two: the relationship between the parameters of the line of sight guidance method described in step 1 described in this embodiment is as follows:

[0030] beta i =atan2(y k -y k-1 ,x k -x k-1 )

[0031] δ(t)=β i -atan2(y k -y t ,x k -x t )

[0032] d ( t ) = ( x k - x t ) 2 + ( y k - y t ) 2

[0033] ε(t)=d(t)*sin(δ(t))

[0034] ψ d = β i -α(t)

[0035] The principle of line-of-sight guidance figure 1 As shown, β i is a di...

Embodiment

[0038] This method is used in the matlab simulation of UUV track tracking, select △ as 4 (UUV length 1.929 meters), set the initial value (x 0 ,y 0 ) is (0,0), (v 0 ,u 0 ) is (0,0). (There are no initial values ​​set for the remaining parameters, and the results are derived through formulas, and are updated in real time as the UUV travels)

[0039] The simulation results are as follows:

[0040] In the case of ocean current interference, the traditional UUV track line-of-sight guidance method, the simulation results are as follows Figure 2-Figure 3 shown;

[0041] image 3 The trajectory of the middle line is the expected trajectory given artificially, and the dotted trajectory is the actual trajectory. From the simulation results, it can be seen that the UUV can track the expected trajectory, but from figure 2It can be seen that there has been a stable track error after the UUV tracks the upper navigation track.

[0042] Under the condition of sea current interferen...

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Abstract

The invention discloses an unmanned underwater vehicle (UUV) trajectory sight guiding method with the sideslip angle considered under the condition of environmental disturbance and relates to under-actuated UUV trajectory tracking control methods. When a traditional UUV trajectory sight guiding method is used under the condition of environmental disturbance, stable trajectory errors exist. To eliminate the stable trajectory errors, the sideslip angle B=a tan (v / u) is directly introduced to correct the expected heading instruction, the corrected heading expected angle Qd=Bi-a(t)-B is used for adjusting the heading angle, and then the stable trajectory errors can be eliminated and accurate tracking of the UUV trajectory is achieved. The method is suitable for under-actuated UUV trajectory tracking control.

Description

technical field [0001] The invention relates to a trajectory tracking control method for an underactuated underwater unmanned vehicle. Background technique [0002] Since the underwater unmanned vehicle (UUV) can only provide longitudinal thrust and bow turning moment on the horizontal plane, it cannot provide lateral thrust, that is, the lateral direction is not directly controllable, so it belongs to underactuated UUV. For this type of underactuated UUV, in order to achieve precise tracking and tracking control, the line-of-sight guidance method can solve this problem well. This method maps the two-dimensional expected position point of track tracking into one-dimensional expected heading by designing the forward-sight vector and forward-sight point, and achieves accurate tracking of the track by tracking the expected heading. Taking the line-of-sight guidance method as an example, for an open water area, the UUV track can usually be expressed as a series of track points ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 陈兴林高怡然于志亮崔宁徐川川李松罗文嘉李松峰耿光晓
Owner HARBIN INST OF TECH
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