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Uuv virtual speed control method based on bio-inspired model

A bio-stimulation and speed control technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problem of UUV speed control instability and achieve the effect of maintaining stable performance and reducing noise

Inactive Publication Date: 2018-09-04
HARBIN ENG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of unstable control of UUV speed. The present invention provides a UUV virtual speed control method based on a biological stimulation model

Method used

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  • Uuv virtual speed control method based on bio-inspired model
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  • Uuv virtual speed control method based on bio-inspired model

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specific Embodiment approach 1

[0034] Specific Embodiment 1: The UUV virtual speed control method based on the biological stimulation model described in this embodiment will be combined below Figure 1 to Figure 4 This embodiment will be further described in detail. The UUV virtual speed control method based on the biological stimulation model comprises the steps:

[0035] Step 1: According to the kinematics model, the velocity nonlinear equation of the underactuated UUV in three-dimensional space motion is established, and the relationship between the velocity of the UUV in the fixed coordinate system {E} and the hull coordinate system {B} is obtained;

[0036] For the convenience of analysis, this embodiment makes the following assumptions for the UUV navigation model: (1) the UUV speed is a non-negative value, that is, the speed control during reverse travel is not considered; (2) the influence of rolling motion is ignored; (3) all The considered UUV object is left-right symmetric. In the UUV motion an...

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Abstract

The invention relates to a UUV virtual speed control method based on a bio-inspired model, belongs to UUV speed control methods, and aims at solving the problem that control for the UUV speed is instable. The method comprises that a virtual speed is obtained; a present position error is input to the bio-inspired model and smooth continuous processing is carried out to obtain a new position error, the virtual speed is processed according to the new position error, and a smooth continuous virtual speed is obtained; the virtual speed and an ocean current speed are subtracted from a present practical navigational speed of the UUV to obtain a speed error, the speed error serves as input of a PID speed controller, the PID speed controller acts output on a UUV model, a practical position of the UUV in the next step is obtained, and the UUV is controlled according to the obtained practical position; and the practical position of the UUV is compared with an expected position output by UUV motion plan, and an obtained position error item serves as position error input of the bio-inspired model in the next step. The method of the invention is used to control the navigational speed of the UUV when the UUV navigates near the water surface or in a shallow sea area.

Description

technical field [0001] The present invention relates to a UUV speed control method, in particular to a UUV virtual speed control method based on a biological stimulation model. Background technique [0002] When the UUV sails near the water surface or in shallow sea areas, the sea current has a strong interference with the speed. When the traditional PID controller is used in practice, many unique control problems appear, such as the continuous lag of speed tracking and the frequent response of propellers. As a result, the noise of UUV increases during navigation, the battery life deteriorates, and the service life of propellers decreases. [0003] There is a UUV track tracking controller based on the iterative sliding mode method, but it does not control the speed of the UUV, but only controls the position. In actual experiments, accurate position tracking is based on a stable speed. based on. Since the accuracy of the speed has an important impact on the overall performa...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G05B13/04
CPCG05B13/042G05D1/10
Inventor 张勋赵晓芳时延利张宏瀚陈涛周佳加李本银
Owner HARBIN ENG UNIV
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