Depth control device of autonomous underwater vehicle

Abstract

The invention relates to the technical field of underwater robots, in particular to a depth control device of an autonomous underwater vehicle and a control method thereof. The depth control device can realize fast and accurate depth control on the great-depth and long-endurance condition of the autonomous underwater vehicle. The depth control device of the autonomous underwater vehicle comprises a depth data collection system, a buoyancy adjusting system, a propelling system, a depth controller and a great-depth underwater vehicle buoyancy model. The depth data collection system collects the depth information of the autonomous underwater vehicle through a depth gauge, a height gauge, a salt depth sensor and an inertial system, and the depth information of the underwater vehicle is extracted through signal synchronization and fusion of an information collection system and then is transmitted to the depth controller and the buoyancy model. The buoyancy adjusting system and the propelling system are combined in the design of a depth control system of the underwater vehicle, and therefore the requirement for fastness of system depth control can be met, and the stability and the robustness of depth servo control can be guaranteed.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a depth control device for an autonomous underwater submersible capable of realizing rapid and accurate depth control of the autonomous underwater submersible under conditions of large depth and long voyage And its control method, the method. Background technique [0002] The output propulsion device of the depth control system of an autonomous underwater vehicle is generally two kinds: one is an ordinary propeller, in order to meet its vertical motion requirements and generate vertical thrust, it needs to be arranged at least in the vertical direction of the hull One channel propeller; the other is to arrange horizontal rudders (or called horizontal wings). The horizontal rudders generate lift during movement, thereby changing the pitch angle of the autonomous underwater vehicle, coupling the axial movement, and generating ascending and descending movements . [0003...

AI Technical Summary

Problems solved by technology

[0004] 1. When navigating at high speed underwater, the channel propeller has a large thrust derating problem, and even the depth is out of control; the channel propeller consumes more energy when sailing at a fixed depth, which reduces the range of the autonomous underwater vehicle; When encountering a large vertical current, the resistance provided by only the vertical channel paddle is weak

[0005] 2. Adjusting the trim with the horizontal rudder only has a high rudder effect at high speeds; simply using the horizontal rudder cannot achieve vertical latent movement, but can only perform motion latency; adjusting the trim through the horizontal rudder while sailing, although the energy consumption is relatively large less, but while the level rudder provides lift, it also has greater resistance, requiring the main propeller to consume more energy to complete the constant speed movement

However, relying only on the buoyancy adjustment system to control the depth determination of the submersible, its response speed and robustness are poor

[0009] Among the current designs of depth control devices for autonomous underwater vehicles, the non-smooth finite-time control method designed in the paper "Non-smooth finite-time control of autonomous underwater robots" by Song Xingguo can avoid the stall phenomenon and make it descend The rapidity of potential has been improved, but its reliability and accuracy need to be improved

"Application of Wavelet Neural Network Active Disturbance Rejection Controller in Deep Control of Underwater Robots" "Computer and Modernization" Issue 6, 2015, the wavelet neural network ADRC controller designed in this paper has strong anti-interference ability and high stability , but it cannot meet the requirements of actual tasks in terms of response speed and energy consumption

Among the controllers designed in Li Jianpeng's paper "Research on Underwater Robot Buoyancy Adjustment System and Its Depth Control Technology", the sliding mode fuzzy controller has fast response and low energy consumption for the unpowered heave motion of the underwater vehicle in a large depth range. and other control effects, but the control accuracy is not high, and the overshoot is large, which poses a threat to the underwater vehicle in practical applications; the adaptive sliding mode fuzzy depth controller has high control accuracy for the underwater vehicle, but the response speed slow, consumes a lot of energy

Neither of these two depth controllers can take into account the two factors of high control precision and low system energy consumption

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