Sliding-mode control method for parameter-free driving-insufficient UUV (Unmanned Underwater Vehicle) vertical plane route tracking

A path tracking and control method technology, applied in non-electric variable control, vehicle position/route/altitude control, altitude or depth control, etc., can solve the problems of real-time improvement, nonlinear processing, etc. The effect of reducing the amount of calculation

Active Publication Date: 2017-02-22
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this algorithm is mainly used in linear systems. For complex nonlinear systems like UUV, there are still challenges in nonlinear processing and real-time improvement.

Method used

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  • Sliding-mode control method for parameter-free driving-insufficient UUV (Unmanned Underwater Vehicle) vertical plane route tracking
  • Sliding-mode control method for parameter-free driving-insufficient UUV (Unmanned Underwater Vehicle) vertical plane route tracking
  • Sliding-mode control method for parameter-free driving-insufficient UUV (Unmanned Underwater Vehicle) vertical plane route tracking

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specific Embodiment approach 1

[0022] Specific embodiment one: a kind of non-parameter underdriven UUV vertical surface path tracking sliding mode control method, comprising the following steps:

[0023] The purpose of the present invention is to provide a non-parameter underactuated UUV vertical surface path tracking sliding mode control method that can improve the speed tracking accuracy and reduce the amount of calculation.

[0024] The purpose of the present invention is achieved like this:

[0025] Step 1. Initialization:

[0026] Adaptive parameters for uncertain parameters of UUV Assign an initial value and determine its ideal speed u for the path following process d , define update times t=0, i=1~8;

[0027] Step 2. Obtain the current state of the UUV:

[0028] The current moment status is obtained through the UUV’s own sensors: u, w are the longitudinal and vertical velocities, r is the pitch angular velocity, x, z are the longitudinal and vertical coordinates of the center of gravity of the U...

specific Embodiment approach 2

[0034] On the basis of the specific embodiment 1, based on the Serret-Frenet coordinate system described in step 3 of this embodiment, the underactuated UUV horizontal plane error equation is established to obtain the position deviation x e ,z e and heading deviation θ e The specific process is as follows:

[0035] For the movement of UUV in the vertical plane, it is only necessary to establish a three-degree-of-freedom model. The variables to be considered are: position x, z, pitch angle θ, and longitudinal velocity u, lateral velocity w, and pitch angular velocity q. The kinematic equation of UUV vertical plane can be obtained as:

[0036]

[0037] Let the center of gravity of the UUV be at the origin of {B}, gravity and buoyancy are equal, the structure of the UUV is symmetrical left and right, and it is considered to be approximately symmetrical up and down. After a series of simplifications, the dynamic equation of the UUV vertical plane can be obtained as follows: ...

specific Embodiment approach 3

[0062] Embodiment 3: On the basis of Embodiment 1 or Embodiment 2, using the sliding mode control method described in step 4 of this embodiment, in the case of unknown parameters, design the speed sliding mode adaptive control law and the position sliding mode control law respectively. Control law and pitch angle sliding mode adaptive control law, through the thrust X prop , expected speed and torque M prop control so that e u →0,x e →0,θ e The specific process of →0 is as follows:

[0063] Using a novel sliding mode approach rate

[0064]

[0065] Among them, s represents the sliding mode surface function, k>0 is the switching gain, ε>0 is the coefficient of the exponential approach term, and 0α The sgns item plays a major role, and the control quality is improved by appropriately reducing the switching gain.

[0066] Combined with the new approach rate (12), the sliding mode control laws of the speed tracking subsystem and the position tracking subsystem are firstl...

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Abstract

The invention provides a sliding-mode control method for parameter-free driving-insufficient UUV (Unmanned Underwater Vehicle) vertical plane route tracking. The sliding-mode control method comprises the following steps: I, performing initialization; II, acquiring a current state of a UUV; III, establishing an error equation of the horizontal plane of the driving-free UUV so as to obtain position deviation values xe and ze and course deviation value theta e; IV, according to a sliding-mode control method, respectively designing traveling speed sliding-mode self-adaptive control rules, position sliding-mode control rules and trimming angle sliding-mode self-adaptive control rules, controlling propelling force Xprop, an excepted traveling speed U and a torque Mprop, wherein eu is 0, xe is 0 and theta e is 0; V, designing fuzzy control rules for a boundary layer, setting k to be equal to k+1, turning to step II, and updating control rules and self-adaptive rules of a next time. By adopting the sliding-mode control method, a controller for stabilizing a system can be designed only according to a vertical surface kinetic model, self-adaptive rules can be designed for water kinetic parameters with uncertainties, furthermore a control system can be relieved from dependency on parameters, the system has robustness, and the influence of the uncertainties on the sliding-mode control approaching process can be reduced.

Description

technical field [0001] The present invention relates to a UUV path tracking control method, in particular to a UUV tracking control method for a desired path in a vertical plane. Background technique [0002] The path tracking control of Unmanned Underwater Vehicle (UUV) is an important technical basis for realizing various uses of UUV. In-depth study of the problems existing in UUV path tracking is of great significance to UUV control theory and engineering applications. [0003] At present, in the aspect of underactuated UUV path tracking control, one of the more mainstream ideas is to establish a kinematic error equation based on the Serret-Frenet coordinate system, and then combine the error equation, dynamic equation and various control methods to achieve control. Among them, common control algorithms include backstepping, model predictive control, sliding mode variable structure control, etc. The backstepping method has obvious advantages in stabilizing complex stron...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 张伟魏世琳滕延斌陈涛张宏瀚
Owner HARBIN ENG UNIV
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