A Depth Control Method for Remote Underwater Vehicles Without Steady State Error
A technology of underwater vehicle and control method, which is applied in the direction of height or depth control, control/adjustment system, non-electric variable control, etc., and can solve problems such as differences, inability to select design index requirements for fixed depth error, and difficulty in developing control systems , to achieve the effect of eliminating the depth control error
Active Publication Date: 2019-07-02
南京兰海智能科技有限公司
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Problems solved by technology
[0003] Due to manufacturing errors, the hydrodynamic parameters and counterweight parameters of the same type of underwater vehicle are somewhat different, and the density of seawater in different sea areas and depths will also change, so the balance state of the underwater vehicle cannot be guaranteed to be completely consistent. The difference is particularly significant at low speeds, so it is impossible to select a suitable free angle to meet the design index requirements of the fixed depth error in various situations, which brings difficulties to the development of the control system
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[0020] Now in conjunction with embodiment, appended figure 1 The present invention is further described:
[0021] The invention calculates the control law according to the measured values of depth and pitch angle of the underwater vehicle, generates a rudder angle instruction, and controls the depth of the underwater vehicle. Among them, the depth measurement is obtained by the pressure sensor, and the pitch angle measurement is obtained by the inclinometer or the inertial navigation system.
[0022] A method for controlling the depth of a remote underwater vehicle without a steady-state error, comprising the following steps:
[0023] Step 1: Set the initial value of the equilibrium angle of attack estimate α ∞ , the estimated initial value of the balance rudder angle δ ∞ , depth compensation Δy ∞ . Among them, α ∞ ,δ ∞ are the nominal values of the balance angle of attack and balance rudder angle calculated according to the model parameters of the underwater vehicl...
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The invention relates to a remote underwater vehicle depth setting control method without steady state error. Based on a double ring output feedback control method, the remote underwater vehicle depth setting control method without steady state error utilizes a depth deviation to obtain depth compensation so as to correct steering control in real time to eliminate the steady state error of depth control, and can satisfy the requirement for accurate depth control of the underwater vehicle. The remote underwater vehicle depth setting control method without steady state error has the advantages of being adaptive to longitudinal motion control of a remote underwater vehicle, being less in the number of parameters, being simple in structure, being high in the self-adaptive ability, being convenient for adjustment, being high in control accuracy, and being able to be applied to design of an underwater robot control system for marine environmental monitoring and maintenance of underwater facilities.
Description
technical field [0001] The invention relates to a depth-fixing control method of a remote underwater vehicle without steady-state error, and belongs to the field of motion control of the underwater vehicle. Background technique [0002] At present, the underwater vehicle widely adopts the "pitch angle + depth" double-loop output feedback depth-fixing control method, which is simple and effective. However, for a general underwater vehicle, its gravity and buoyancy cannot be completely equal, and it does not have ideal up-down symmetry. At this time, it has a non-zero balanced pitch angle and balanced rudder angle in the state of constant depth and direct flight, resulting in depth The steady-state error of the control. The traditional method adopts the method of setting the free angle, that is, superimposing an appropriate fixed angle on the basis of the original double-loop feedback control to offset the steering caused by the depth steady-state error, thereby eliminating t...
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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 李鹏
Owner 南京兰海智能科技有限公司