Uuv control method based on t-s fuzzy observer compensation

A control method and observer technology, which can be applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problem of inaccurate tracking of the track, and achieve the effect of accurate track tracking.

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

[0007] The purpose of the present invention is to solve the problem of inaccurate tracking of the track when there is ocean current interference in the existing UUV control. The present invention provides a UUV control method based on T-S fuzzy observer compensation

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  • Uuv control method based on t-s fuzzy observer compensation
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  • Uuv control method based on t-s fuzzy observer compensation

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Embodiment Construction

[0059] In the UUV control method based on T-S fuzzy observer compensation described in this embodiment, the UUV studied in this embodiment has non-holonomic constraints such as underactuation and non-integrable acceleration, and is affected by external ocean currents, which makes the established model complex. The UUV model is equipped with a horizontal thruster at the tail to provide longitudinal thrust, a vertical rudder for heading control, and a horizontal rudder for trim or depth control. For the convenience of analysis, the following assumptions are further made for the UUV model: the speed of the UUV is non-negative, that is, the track control during reverse travel is not considered; the influence of rolling motion is ignored; the UUV object considered is left-right symmetrical.

[0060] In the UUV motion analysis and maneuverability test, it is usually divided into two aspects: the horizontal plane and the vertical plane. Among them, the horizontal plane analysis is ma...

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Abstract

The invention relates to a UUV control method and discloses a UUV control method based on T-S fuzzy observer compensation to solve the problem that the UUV track is inaccurate under ocean current interference.The method comprises the steps that the expected track of a UUV in the next step is acquired; an attitude controller conducts error tracking according to the expected track and works out the rudder angle information of vertical rudder and diving rudder in the next step; a T-S fuzzy observer observes the UUV according to ocean current interference, the current state information of the UUV and track position error, and estimates the state information of the UUV in the next step; the thrust of a thruster in the next step is acquired with the state information of the UUV in the next step as an input signal of a speed controller; the UUV is controlled according to the rudder angle information of vertical rudder and diving rudder and the thrust, the motion state of the UUV is acquired, and then the track of the UUV is determined and whether the track coincides with the expected track is judged.The method is used for UUV tracking of underwater cables or pipelines, underwater search and rescue, deep-sea resource detection and terrain detection.

Description

technical field [0001] The present invention relates to a UUV control method, in particular to a UUV control method based on T-S fuzzy observer compensation. Background technique [0002] Unmanned underwater vehicles (Unmanned Vehicle, UUV) are widely used in tracking underwater cables or pipelines, underwater search and rescue, deep-sea resource detection and terrain detection, and accurate three-dimensional track tracking is to achieve the above applications important premise. Since the UUV studied in the present invention has non-holonomic constraints of underactuation and non-integrable acceleration, and is affected by external ocean currents, the established model is complicated. The UUV six-degree-of-freedom models used in practical applications are based on the premise of ignoring high-order items and unmodeled dynamics. As a result, when the UUV works in a complex environment, due to the increased influence of unmodeled dynamics and high-order items, the actual trac...

Claims

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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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