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AUV inversion docking control method

A control method and inversion technology, applied in the direction of non-electric variable control, height or depth control, control/regulation system, etc., can solve problems such as large impact

Inactive Publication Date: 2016-04-27
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The main disadvantage of this method is that the acquisition of fuzzy control rules and the determination of the domain of input fuzzy variables and membership functions are all summaries of experimental analysis and operator experience, which are greatly affected by human subjective factors.

Method used

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  • AUV inversion docking control method
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Embodiment Construction

[0048] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0049] Such as figure 1 As shown, it is characterized in that a USBL transceiver is installed on the head of the AUV, and two USBL transponders B are installed on both sides of the recycle bin 1 and B 2 .

[0050] Implementation example:

[0051] Step 1: AUV starts back-to-dock guidance from the initial point (-200,-30) with an initial heading angle of 30° in the recovery coordinate system xoy. The initial forward velocity and lateral velocity are 0.8m / s and 0m / s, respectively, and the angular velocity is 0m / s.

[0052] Step 2: Transponder B 1 and B 2 The coordinates in the global coordinate system are (0,-1) and (0,1).

[0053] Step 3: Derivation of the AUV transponder position measurement equation with respect to time:

[0054] x ...

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Abstract

The present invention relates to an AUV inversion docking control method, belonging to the technical field of underwater vehicle recovery and docking. The method is characterized in that the head of an AUV is equipped with a USBL transceiver, two sides of a recovery station is equipped with two USBL transponders B1 and B2; in the process that the AUV approaches a docking station, the AUV obtains the positions of the transponders in a body coordinate system through a USBL positioning system, time derivation is carried out by an AUV transponder position measurement equation, and a docking error is defined in the AUV body coordinate system. In the docking process, the AUV is in a full driving navigation mode, for a docking error, a nonlinear inversion controller is designed, thus the AUV navigates along an expected straight line trajectory until reaching the docking station. According to the method, the inversion adapted speed tracking has good speed tracking performance in a condition of parameter uncertainty, and the docking effect is good.

Description

technical field [0001] The invention belongs to the technical field of recovery and docking of underwater vehicles, and in particular relates to an AUV inversion docking control method. Background technique [0002] As an autonomous underwater vehicle, AUV (Autonomous Underwater Vehicle) relies on its own energy to navigate, and can complete tasks such as underwater measurement and item delivery. It plays an important role in military marine reconnaissance, marine environmental monitoring, and oil field surveys. . AUVs carry limited energy when performing tasks. For AUVs that operate for a long time, the AUV must be deployed and recovered through the mother ship in the area where the task is performed, in order to complete the work of replenishing energy, reading information, and maintaining support. In order to improve the operation efficiency, the underwater autonomous recovery system of AUV has been proposed, and the autonomous recovery control has become one of the curr...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 高剑严卫生齐贝贝张福斌崔荣鑫
Owner NORTHWESTERN POLYTECHNICAL UNIV
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