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Underactuated uuv vertical plane control method based on t-s fuzzy time-delay model

A vertical plane, T-S technology, applied in the direction of non-electric variable control, height or depth control, control/regulation system, etc., can solve the problem of not establishing a time-delay model

Inactive Publication Date: 2018-07-17
HARBIN ENG UNIV
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, neither of the two literatures establishes a specific time-delay model of the UUV vertical plane, but solves the control input time-delay problem through the robustness of the controller.

Method used

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specific Embodiment approach 1

[0046] Specific implementation mode 1. Combination image 3 , an underactuated UUV vertical plane control based on the T-S fuzzy time-delay model. The specific implementation steps can be described as:

[0047] 1. Initialize the UUV, obtain the initial state information, current depth and pitch angle;

[0048] 2. The motion control computer receives the depth command, and inputs the T-S fuzzy time-delay model into the T-S fuzzy time-delay model to solve the controller state feedback coefficient combined with the initial state information fed back by the sensor.

[0049] 3. The controller outputs the rudder angle control command by solving the real-time status information fed back by the current sensor;

[0050]4. The steering gear executes the control command to complete the UUV depth control. If it reaches the specified depth, it will end. If not, go to step 3. In this way, a closed-loop control system is formed to realize the motion control of the underactuated UUV vertica...

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Abstract

The invention relates to an under-actuated UUV vertical plane control method based on a T-S fuzzy time lag model, relates to a control method for underwater motion bodies and aims to realize control on an under-actuated unmanned underwater vehicle for moving to a specified depth under the condition of communication time lag. According to the method, after a depth instruction is received by a motion control computer, the depth instruction deviation, a UUV rudder angle, a pitch angle and a speed original state are inputted to the T-S fuzzy time lag model to calculate a state feedback coefficient, a rudder angle instruction is calculated by a controller according to the real-time state information transmitted by a sensor system in combination with the state feedback coefficient, the UUV diving depth can be controlled by a performing mechanism through performing the rudder angle instruction, if arriving the specified depth, the present diving task is accomplished, if not, resolution and instruction sending are continuously carried out by the motion control computer. Through the method, control on a vertical plane of the under-actuated UUV in a communication time lag state can be realized.

Description

technical field [0001] The invention relates to a control method of an underwater moving body. In particular, it relates to a motion control method of a vertical plane of an underactuated unmanned underwater vehicle (UUV) in a communication time-delay state. Background technique [0002] Unmanned underwater vehicle (UUV) is a high-tech integration, and its motion control problem is one of the key technologies that urgently need to be studied and solved among many key technologies of UUV. At the same time, the motion control of UUV is an important technical guarantee for completing the UUV mission, and it has always been a very complicated problem that has plagued AUV technicians. The UUV motion control system has a large amount of information exchange and high real-time requirements. The control of the UUV vertical plane is an important part of the UUV motion control system. However, the uncertainty of information caused by network communication time lag makes UUV vertica...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/04G05D1/06
CPCG05D1/048G05D1/0692
Inventor 张勋肖遥李昀澄张宏瀚时延利陈涛周佳加
Owner HARBIN ENG UNIV