Under-actuated UUV (unmanned underwater vehicle) depth control method based on artificial bee colony optimized model predication

An artificial bee colony optimization and depth control technology, which is applied in height or depth control, non-electric variable control, vehicle position/route/height control, etc., to achieve the effect of reducing cumulative effect, reducing external disturbance and system structural parameter changes

Active Publication Date: 2016-04-20
HARBIN ENG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of UUV depth control when complex horizontal rudder angle const

Method used

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  • Under-actuated UUV (unmanned underwater vehicle) depth control method based on artificial bee colony optimized model predication
  • Under-actuated UUV (unmanned underwater vehicle) depth control method based on artificial bee colony optimized model predication
  • Under-actuated UUV (unmanned underwater vehicle) depth control method based on artificial bee colony optimized model predication

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specific Embodiment approach 1

[0031] Specific embodiment one: a kind of underactuated UUV depth control method based on artificial bee colony optimization model prediction of this embodiment is specifically prepared according to the following steps:

[0032] attached figure 2 And attached image 3 The flow chart and control block diagram of the underactuated UUV depth control based on artificial bee colony optimization model prediction are given respectively;

[0033] Step 1. Organize the UUV vertical plane model into a state space model, and discretize the state space model to obtain an underactuated UUV incremental vertical plane prediction model;

[0034] Step 2, at time k, set up the control input constraints of the horizontal rudder angle according to the horizontal rudder characteristics; the control input constraints of the horizontal rudder angle include amplitude constraints and the incremental constraints of each beat action; and the horizontal rudder angle The control input constraints are un...

specific Embodiment approach 2

[0052] Embodiment 2: The difference between this embodiment and Embodiment 1 is that in step 1, the UUV vertical plane model is sorted into a state space model, and the state space model is discretized to obtain an underactuated UUV incremental vertical plane prediction model. The process is:

[0053] Step one, combine figure 1 , the coordinate system of UUV is established, wherein, the coordinate system of UUV includes fixed coordinate system E-ξηζ and moving coordinate system O-XYZ;

[0054] Step 12, get the state variable The rudder angle δ of the horizontal rudder s (t) and UUV dive depth y(t) at time t to establish the state space equation of the UUV vertical plane, that is, the continuous state space model:

[0055] x · ( t ) = A ...

specific Embodiment approach 3

[0104] Specific implementation mode three: the difference between this implementation mode and specific implementation mode one or two is: T in step one or three s is 0.5s. Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention relates to an under-actuated UUV (unmanned underwater vehicle) depth control method and provides an under-actuated UUV depth control method based on artificial bee colony optimized model predication to solve the problem of UUV depth control under complex horizontal angle constraint conditions. The method includes: firstly, acquiring an incremental vertical plane predication model of an under-actuated UUV; secondly, unifying horizontal angle control input constraint conditions as H delta U (k) </=gamma; thirdly, by model predication control, turning the UUV depth control problem into a secondary planning problem under the constraint conditions; fourthly, obtaining a global optimum position of a nectar source; fifthly, obtaining control input at a moment k; sixthly, guaranteeing that the UUV reaches an appointed UUV diving depth R (k+1) to complete diving. The under-actuated UUV depth control method is applicable to the field of UUV depth control.

Description

technical field [0001] The invention relates to an underactuated UUV depth control method, in particular to an underactuated UUV depth control method based on artificial bee colony optimization model prediction. Background technique [0002] Unmanned Underwater Vehicle (UUV) has the advantages of large range of activities, deep diving, good maneuverability, safety, intelligence, and low operation and maintenance costs. Substitutes and executors have been widely used in scientific investigations, deep-sea operations, salvage and lifesaving and other fields. They need to be kept at a certain depth during operations. Therefore, effective depth control methods play an important role in the performance of UUV. [0003] At present, scholars at home and abroad have done a lot of research on the problem of UUV depth control, and correspondingly proposed many control methods, such as active disturbance rejection method, backstepping method and so on. Active disturbance rejection met...

Claims

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Application Information

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IPC IPC(8): G05D1/04
CPCG05D1/048
Inventor 张伟郭毅梁志成孟德涛周佳加张宏瀚严浙平
Owner HARBIN ENG UNIV
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