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Precise path tracking control method for autonomous underwater vehicle

An underwater vehicle, tracking control technology, applied in the direction of three-dimensional position/channel control, etc., can solve problems such as large impact

Inactive Publication Date: 2017-02-22
西安兰海动力科技有限公司
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Problems solved by technology

The main disadvantage of this method is that the acquisition of fuzzy control rules and the determination of the domain of input fuzzy variables and membership functions are all summaries of experimental analysis and operator experience, which are greatly affected by human subjective factors.

Method used

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  • Precise path tracking control method for autonomous underwater vehicle
  • Precise path tracking control method for autonomous underwater vehicle
  • Precise path tracking control method for autonomous underwater vehicle

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Embodiment Construction

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] refer to figure 1 and figure 2 , a precise route tracking control method for an autonomous underwater vehicle, the steps are as follows:

[0040] Step 1: Establish a mathematical model of the AUV horizontal plane:

[0041]

[0042]

[0043]

[0044]

[0045] Step 2: The AUV starts to perform straight-line tracking control motion in the initial state, where y(0), ψ(0), v(0) and r(0) can be set before the AUV sails;

[0046] Step 3: Assume point P 1 -P n is a specified series of waypoints;

[0047] Step 4: Select the previous waypoint P i is the coordinate origin, and the x-axis points to the current target waypoint P i+1 The waypoint coordinate system {W i},Such as figure 2 shown.

[0048] Step 5: AUV in {W i} coordinates in the coordinate system (x i ,y i ) and heading angle ψ i It can be obtained by the following coor...

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Abstract

The invention relates to a precise path tracking control method for an autonomous underwater vehicle, and the method is used for linear path tracking control. The method is a path point tracking control method which is more precise. The method enables AUV to precisely move along a linear path between two path points through lateral tracking control, prevents an actual path from deviating from an expected line because of the initial position deviation of the AUV, and is more suitable for the fields with the higher requirements for the path tracking precision, such as the seabed exploration and butt joint recovery.

Description

technical field [0001] The invention relates to a precise route tracking control method of an autonomous underwater vehicle, belonging to the technical field of tracking control of the autonomous underwater vehicle. Background technique [0002] As an important tool for marine development, autonomous underwater vehicle (AUV) can accomplish a variety of civil and military tasks excellently, and has achieved considerable development in recent years. Waypoint tracking control of AUV, as a key issue in AUV research, has attracted widespread attention. The so-called waypoint tracking means that after the AUV starts, it moves to the waypoint through the control input. When the distance to it is less than a certain threshold, it is considered to have reached the waypoint and starts to move to the next waypoint until all the waypoints are completed. . [0003] At present, the AUV underwater route tracking control methods mainly include: [0004] (1) Line of sight waypoint guidanc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/10
Inventor 李鹏
Owner 西安兰海动力科技有限公司
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