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Method and device for unmanned underwater vehicle formation control

A control method and technology of underwater vehicles, applied in three-dimensional position/channel control, adaptive control, general control system, etc., can solve the problem of unmanned underwater vehicle formation coordinated control and unmanned underwater vehicle formation position and posture difficulties

Active Publication Date: 2020-11-27
BEIHANG UNIV
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Problems solved by technology

However, it is difficult to maintain a unified position and attitude of the unmanned underwater vehicle formation during underwater navigation, and thus it is impossible to realize the coordinated control of the entire unmanned underwater vehicle formation.

Method used

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  • Method and device for unmanned underwater vehicle formation control
  • Method and device for unmanned underwater vehicle formation control
  • Method and device for unmanned underwater vehicle formation control

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0059] see figure 1 and figure 2 , the unmanned underwater vehicle formation control method proposed in this embodiment specifically includes the following steps:

[0060] Step S101: Design nominal position control input parameters and nominal attitude control input parameters.

[0061] Step S102: According to the disturbance received by each submersible, add position robust compensation input parameters and attitude robust compensation input parameters to each model.

[0062] Step S103: Establish a position controller according to the nominal position control input parameters and the position robust compensation input parameters, and establish an attitude controller according to the nominal attitude control input parameters and the attitude robust compensation input parameters.

[0063] Step S104: Add topology structures to the position controller and the attitude controller respectively to form a formation controller.

[0064] The above-mentioned steps are described in d...

Embodiment 2

[0159] see image 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 , this embodiment tests the formation control method of unmanned underwater vehicles, that is, the simulation can be obtained: a group of five unmanned submersibles is simulated and verified to prove the effectiveness of the distributed formation controller. That is, Φ={1,2,3,4,5}, the parameters of the UUV are as follows: m i =200kg, I xi =203Nm·s 2 , I yi =587Nm·s 2 , I zi =687Nm·s 2 , the hydrodynamic parameters are: β vx =-70,β vy =-100, β vz =-50, beta ωxi =-0.8,β ωyi = -0.9, β ωzi =-0.4, The center trajectory of the unmanned submersible vehicle fleet is p 0 r (t) = [10t 10t 5t] T . The desired attitude of the UUV is required to be stable at 0. At the same time, the five submersibles need to maintain the pentagonal shape, and the expected deviation is as follows: δ 1 =[10 0 0] T ,δ 2 =[0 20 0] T ,δ 3 =[-15 15 0] T ,δ 4 = [-15 -15 0] T ,δ 5 =[0...

Embodiment 3

[0172] see Figure 10 , the present embodiment provides an unmanned underwater vehicle formation control device including:

[0173] Parameter design module 1, for designing nominal position control input parameters and nominal attitude control input parameters;

[0174] The compensation design module 2 is used to design position robust compensation input parameters and attitude robust compensation input parameters according to the disturbance suffered by each submersible;

[0175] A controller establishment module 3, configured to establish a position controller according to the nominal position control input parameter and the position robust compensation input parameter, and, according to the nominal attitude control input parameter and the attitude robust compensation input Parameters to build the attitude controller;

[0176] The formation controller constitutes a module 4, which is used to combine the position controller and the attitude controller into sub-controllers, ...

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Abstract

The invention, which relates to the technical field of underwater vehicle control, provides a formation control method and device for unmanned underwater vehicles. The formation control method comprises: designing a nominal position control input parameter and a nominal attitude control input parameter; according to disturbance on each underwater vehicle, designing a position robust compensation input parameter and an attitude robust compensation input parameter; establishing a position controller based on the nominal position control input parameter and the position robust compensation inputparameter; establishing an attitude controller based on the nominal attitude control input parameter and the attitude robust compensation input parameter; and synthesizing the position controller andthe attitude controller into sub controllers and carrying out communications among all sub controllers based on a topology structure to form a formation controller. Therefore, the position and attitude of the unmanned underwater vehicle formation are kept to be consistent during task execution.

Description

technical field [0001] The invention relates to the technical field of underwater vehicle control, in particular to a formation control method and device for an unmanned underwater vehicle. Background technique [0002] In recent years, unmanned underwater vehicles have shown great advantages in tasks such as ocean surveillance, subsea oil detection, and subsea exploration. Unmanned underwater vehicles can execute various control commands during navigation. The unmanned underwater vehicle carries a multi-beam active search sonar and a side-scan classification sonar. The former mainly conducts an initial search underwater to determine whether there are mines, while the latter conducts precise surveys to detect objects similar to mines. Locate and classify. For example, when a nuclear-powered attack submarine carrying an unmanned underwater vehicle arrives at a predetermined sea area or base, the unmanned underwater vehicle can be launched first to check whether there are mi...

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 刘昊马腾蔡国飙刘德元赵万兵
Owner BEIHANG UNIV
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