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Marine environment self-recognition track accurate tracking method of autonomous underwater vehicle

A technology for underwater robots and marine environments, which is applied in three-dimensional position/channel control and other directions, and can solve problems such as strong coefficient sensitivity and weak anti-interference

Active Publication Date: 2016-05-04
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

[0005] Aiming at the problem that the traditional accurate track tracking control method has strong sensitivity to coefficients and weak anti-interference, the technical problem to be solved by the present invention is to provide an accurate track tracking method for self-identification of the marine environment of an autonomous underwater robot , a control method that combines the traditional precise tracking control method with online parameter identification, which reduces the sensitivity of the control system to parameters and improves the control anti-interference ability of the system

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  • Marine environment self-recognition track accurate tracking method of autonomous underwater vehicle
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  • Marine environment self-recognition track accurate tracking method of autonomous underwater vehicle

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Embodiment Construction

[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0030] The hardware requirement of the present invention is an AUV, the stern is equipped with 2 horizontal rudders, and 2 propulsion motors are housed on the stern horizontal rudders; a stern is configured with a vertical rudder, such as figure 1 shown. After the AUV design is completed, the hydrodynamic test of the pool is carried out first to obtain the hydrodynamic coefficient of the AUV. Then the precise track tracking controller of AUV is designed according to the method of the present invention. Finally, the AUV using the method of the present invention will be used for sailing tests to verify the correctness of the control method.

[0031] The AUV precise track tracking control method of the present invention includes marine environment parameter identification and precise track tracking control methods, and the following two aspects...

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Abstract

The invention relates to the technical field of underwater vehicles, specifically relates to a track accurate tracking method of an autonomous vehicle, and accurate track tracking control in the variable marine environment of the autonomous underwater vehicle is realized. The method includes following steps: marine environmental parameter recognition: calculating the projection of the current velocity value in the vertical direction of the underwater vehicle; and track tracking: calculating the horizontal plane course-changing torque of the underwater vehicle via the calculation of the transverse distance between the underwater vehicle and a planned track and the deviation value of the course angle of the underwater vehicle and a planned track angle with the combination of the bottom forward speed of the underwater vehicle and the course-changing angle speed of the underwater vehicle. Compared with the conventional control method, the robustness is better, the tracking method can better adapt to the changes of the external environment and self parameters of the AUV, the control capability of the AUV is improved, and the transplant of the method is convenient and can be applied to various underwater vehicles.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an accurate track tracking method for marine environment self-identification of an autonomous underwater robot (AUV for short). Background technique [0002] In marine applications, underwater robots play an increasingly important role. Underwater robots are divided into two categories: one is a remote-controlled cable underwater vehicle (ROV for short), and the other is an autonomous underwater vehicle (AUV for short). ROV needs the support of the surface mother ship, and is limited by the length of the cable. Its operating distance is limited, generally only a few hundred meters; while AUV carries its own energy, it can be far away from the mother ship, and the operating distance can reach tens of kilometers or even hundreds of kilometers. Therefore, the research of AUV has been paid more and more attention by various countries, and the development of AUV represents ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 王轶群赵宏宇徐春晖刘健邵刚
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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