A depth control device for an autonomous underwater vehicle

A depth control, underwater submersible technology, applied in the directions of underwater ships, underwater operation equipment, transportation and packaging, etc., can solve the problem of high energy consumption of fixed-depth navigation, poor response speed and robustness, reliability and accuracy to be solved. Improve and other problems, to overcome the shock and poor anti-interference ability, ensure stability and robustness, and improve the effect of underwater running time

Active Publication Date: 2018-10-26
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • A depth control device for an autonomous underwater vehicle
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  • A depth control device for an autonomous underwater vehicle

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Experimental program
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Effect test

Embodiment 1

[0037] Implementation 1, combined with the attached figure 1 , the entity of the present invention is made up of depth gauge A, altimeter B, salt depth sensor C, inertial system D, information acquisition system E, depth controller F, buoyancy adjustment system system G, propulsion system H and central controller I. The output interface 1 of the depth gauge A is connected to the input interface 2 of the information collection system E, the output interface 3 of the altimeter B is connected to the input interface 4 of the information collection system E, and the output interface 5 of the salt depth sensor C is connected to the input interface of the information collection system E. The input interface 6, the output interface 7 of the inertial system D is connected to the input interface 8 of the information collection system E, the output interface 9 of the information collection system E is connected to the input interface 10 of the depth controller F, and the interface 12 of t...

Embodiment 2

[0046] Implementation 2, combined with the attached figure 2 , the depth control device consists of the submersible's horizontal main propeller, vertical propeller, horizontal wing, vertical rudder, and buoyancy adjustment system. The shape of the underwater autonomous submersible is mainly streamlined, and the movement resistance in the forward direction is very small, which can ensure that the horizontal propeller advances with maximum efficiency and the resistance in the forward direction is small, while in other directions such as floating and diving The resistance is relatively large, so the combination of horizontal thrusters and rudders can ensure that the submersible rises and dives at the fastest speed. Because the movement resistance of the submersible in the vertical direction is relatively large, the submersion speed of the submersible relying solely on the vertical thruster is relatively slow. The buoyancy adjustment system realizes the depth control of the subm...

Embodiment 3

[0047] Implementation 3, combined with the attached image 3 , the multi-scale control method is based on the difference between the depth where the current submersible is located and the target depth, in order to ensure the rapidity and stability of the control, the staged control devices and different control methods are adopted.

[0048] combined with Figure 4 , the PID controller is used for fast diving, and its control equation is:

[0049]

[0050] In the formula: e is the depth deviation, which is the deviation between the current depth and the target depth.

[0051] u is the output of the controller to adjust the speed of the horizontal thruster and the angle of the rudder.

[0052] K p 、K i 、K d They are proportional term coefficient, integral term coefficient and differential term coefficient.

[0053] When it reaches the range of 10 meters from the target depth, the sliding mode control method is adopted, and its controller control law is:

[0054] u=u a...

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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...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): B63G8/24B63G8/22
CPCB63G8/22B63G8/24
Inventor魏延辉周星合高苇杭胡佳兴于媛媛杨子扬刘合伟贾献强韩寒王泽鹏
OwnerHARBIN ENG UNIV