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Method for tracking movement mother ship by UUV (Unmanned Underwater Vehicle) based on nonlinear model predictive control

A nonlinear model, predictive control technology, applied in non-electric variable control, vehicle position/route/altitude control, altitude or depth control, etc., can solve the problem of low accuracy, enhance rapidity and reduce cumulative effect Effect

Inactive Publication Date: 2016-09-28
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve the problem of low accuracy when controlling UUV in the existing method for processing linear models

Method used

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  • Method for tracking movement mother ship by UUV (Unmanned Underwater Vehicle) based on nonlinear model predictive control
  • Method for tracking movement mother ship by UUV (Unmanned Underwater Vehicle) based on nonlinear model predictive control
  • Method for tracking movement mother ship by UUV (Unmanned Underwater Vehicle) based on nonlinear model predictive control

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specific Embodiment approach 1

[0027] Specific implementation mode one: combine Figure 1 to Figure 3 To describe this embodiment,

[0028] A method for tracking a moving mother ship by a UUV based on nonlinear model predictive control, comprising the steps of:

[0029] Step 1: Establish a prediction model for the underactuated UUV level;

[0030] Step 2: According to the actual situation, establish the corresponding constraints of the prediction model of the UUV horizontal plane;

[0031] Step 3: Select the comprehensive performance index, and convert the tracking control problem of the underactuated UUV to the moving mother ship into an optimization problem under constraints;

[0032] Step 4: Use Taylor series expansion and Lie derivatives to process the optimization problem under the constraints in step 3, and use the obtained analytical solution as the control input of the UUV tracking system;

[0033] Step 5: In each prediction time domain, update the analytical solution in step 4 with the new state...

specific Embodiment approach 2

[0034] The specific process of establishing the prediction model of the underdriven UUV level described in step one of the present embodiment is as follows:

[0035] combine figure 1 , the coordinate system of UUV is established, E-ξηζ is a fixed coordinate system, O-XYZ is a moving coordinate system; the origin of the fixed coordinate system E-ξηζ is a point on the earth or the ocean, and Eξ is kept horizontal and points to the geographic north. is the main heading of the UUV; Eη points to the geographical east, representing the horizontal direction of the UUV; Eζ points to the center of the earth, representing the vertical direction of the UUV; the motion coordinate system O-XYZ is placed on the UUV and moves with it, and its origin O is set to at the position of the UUV center of gravity; Ox points to the forward direction of the UUV as positive, and rotates around Ox to generate a roll angular velocity p, forming a roll angle φ; Oy points to the starboard direction of the ...

specific Embodiment approach 3

[0047] The corresponding constraints of the prediction model of the UUV horizontal plane described in step 2 of this embodiment are as follows:

[0048] For the UUV horizontal plane prediction model, in a certain prediction time domain [t,t+T], the constraints will be satisfied:

[0049]

[0050] Where τ is a time variable, and τ∈[0,T]; is the predicted value of the state variable of the UUV in the time domain [t,t+T]; is the predicted value of the UUV trajectory in the time domain [t,t+T]; Control input for UUV in the time domain [t,t+T];

[0051] At the same time, in the [t,t+T] prediction time domain, the predicted value of the state variable The initial value of satisfies:

[0052]

[0053] Among them, t represents the moment, and T represents the time in the prediction time domain.

[0054] Other steps and parameters are the same as in the second embodiment.

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Abstract

A UUV tracking method for a moving mother ship based on nonlinear model predictive control, which relates to a tracking control method for an underactuated UUV for a moving mother ship. In order to solve the problem of low accuracy of the existing method for processing the linear model when controlling the UUV, the present invention first establishes a prediction model of the underactuated UUV level and corresponding constraints; The tracking control problem of driving UUV to the moving mother ship is transformed into an optimization problem under constraint conditions; and the optimization problem under constraint conditions in step 3 is processed by using Taylor series expansion and Lie derivative, and the obtained analytical solution is used as UUV tracking The control input of the system; in each prediction time domain, update the analytical solution in step 4 with the new state value, and continue to run until the UUV completes the tracking operation of the moving mother ship. The invention is applicable to the tracking control of the underactuated UUV to the moving mother ship.

Description

technical field [0001] The invention relates to a method for tracking and controlling a moving mother ship by an underactuated UUV. Background technique [0002] Unmanned Underwater Vehicle (UUV) has the advantages of large range of activities, deep diving, good maneuverability, intelligence, and low operation and maintenance costs. Substitutes and executors have been widely used in scientific investigations, deep-sea operations and other fields. When the operation is completed, it needs to be recovered, especially in the process of carrying a camel on the back of the sports mother ship, UUV is required to accurately track the sports mother ship . [0003] At present, scholars at home and abroad have done a lot of research on the problem of UUV tracking control, and correspondingly proposed many control methods, such as sliding mode control, backstepping control and so on. The sliding mode controller not only has the robustness to the uncertainty of system model parameters...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 张伟郭毅滕延斌梁志成孟德涛周佳加严浙平
Owner HARBIN ENG UNIV
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