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A dynamic anti-saturation pitch angle control method for an autonomous underwater vehicle

A technology of underwater vehicle and control method, applied in attitude control and other directions

Active Publication Date: 2017-05-03
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In this method, an adaptive law is designed based on sliding mode control to estimate the model parameters and the upper bound of external disturbances, and a dynamic compensator is designed to solve the problem of input saturation to ensure good performance of the control system

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  • A dynamic anti-saturation pitch angle control method for an autonomous underwater vehicle
  • A dynamic anti-saturation pitch angle control method for an autonomous underwater vehicle
  • A dynamic anti-saturation pitch angle control method for an autonomous underwater vehicle

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Embodiment Construction

[0036] Describe the present invention below in conjunction with specific embodiment:

[0037] In this embodiment, the model parameters are set according to a certain type of AUV: c 1 =-4.695,c 2 = 10.735, c 3 = -1.8207, c 4 =0.2623,c 5 =-1.274, c 6 =-0.102, where c 1 , c 2 The value of is the value set in the simulation modeling, in the actual control, it is considered that c 1 , c 2 The value of is unknown. The initial state is set to θ (0) = 10°, ω z(0) = 3° / s. The initial state of the estimated parameters is: The desired pitch angle is a filtered square wave with an amplitude of 28.7°. τ=20, k=0.02, λ=1. Set the maximum output of the actuator as u m = 12°.

[0038] First, ignoring the coupling of the pitching motion and rolling motion of the underwater vehicle, the pitching motion model of the underwater vehicle is established:

[0039]

[0040]

[0041]

[0042] y = θ

[0043] where θ is the pitch angle, ω z is the pitch rate, α is the angle of...

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Abstract

The invention provides a dynamic anti-saturation pitch angle control method for an autonomous underwater vehicle. According to the method, the adaptive law is designed on the basis of sliding-mode control, system parameters and the upper limit of unknown disturbances are estimated online, current running state of a system is compared to expected state constantly, a controller is changed through the adaptive law, and the system is imparted expected performance indexes. Meanwhile, an anti-saturation dynamic compensator is designed; through the use of an auxiliary variable w, the influence of input saturation upon the system is relieved, and good performance of the system is guaranteed.

Description

technical field [0001] The present invention relates to the technical field of pitch control of underwater vehicles, in particular to a dynamic anti-saturation pitch angle control method for autonomous underwater vehicles. Background technique [0002] The ocean covers two-thirds of the earth and has a vital impact on the future survival of human beings. It is an important field for human survival and sustainable development. The development and utilization of the ocean has become one of the basic factors that determine the rise and fall of a country. As an important means of exploring the ocean, the autonomous underwater vehicle (AUV) has increasingly become a research hotspot. [0003] AUV has strong nonlinear characteristics, and its navigation environment is very complex, and the traditional PID control algorithm is not competent. There are several technical challenges for AUV attitude control: time-varying, model parameters and even structural uncertainty, unknown exte...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
Inventor 崔荣鑫严卫生张欣
Owner NORTHWESTERN POLYTECHNICAL UNIV
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