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Method for longitudinal plane ballistic control of high altitude gliding UUV

A plane and ballistic technology, applied in the field of UUV control, can solve the problems of accurately specifying the initial state of the system, the optimal guidance method cannot modify the control instructions in real time, and the operation accuracy is reduced.

Active Publication Date: 2018-12-28
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the operation process of the gliding UUV is a dynamic process with high mobility, and it is obviously impossible to accurately specify the initial state of the system before launch
Moreover, the gliding UUV will be subject to various disturbances from the surrounding environment during operation, and the optimal guidance method cannot modify the control instructions in real time, so that the operating accuracy of the system is greatly reduced

Method used

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  • Method for longitudinal plane ballistic control of high altitude gliding UUV
  • Method for longitudinal plane ballistic control of high altitude gliding UUV
  • Method for longitudinal plane ballistic control of high altitude gliding UUV

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Embodiment Construction

[0043] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0044] For the definition of the coordinate system relevant to the control method designed by the present invention, see figure 2 . Define the ground coordinate system {E} with its origin O E Somewhere in the horizontal plane, X E along the horizontal plane, Y E straight up. Define the body coordinate system {B} with its origin O B Located at the centroid of the UUV body, X B Pointing to the head along the UUV main axis, Y B perpendicular to X B up. Define O B The coordinates in the ground coordinate system are (x,y). Define the speed of the UUV as v. Define the pitch angle θ of the UUV as X B with X E angle, and from X BGo counterclockwise to X E is positive. Define the attack angle α of UUV as v and X B Angle of , and turn counterclockwise ...

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Abstract

The invention provides a method for a longitudinal plane ballistic control of a high altitude gliding UUV, which is mainly based on the principle of a moving horizon optimization algorithm. Aiming atthe requirement of the longitudinal plane ballistic control of the high altitude gliding UUV, the moving horizon optimization algorithm is adopted to solve a constrained optimization problem in a limited time domain online, a local optimal control command of the gliding UUV in the future is obtained, and a desired system speed is achieved when the gliding UUV reaches a designated parachate-openingarea. Meanwhile the control method can respond to the disturbance caused by the surrounding environment to the gliding UUV in real time, and the system operating with acceptable precision is ensured.

Description

technical field [0001] The invention relates to the technical field of UUV control, in particular to a method for controlling the vertical plane trajectory of a high-altitude gliding UUV, and performs trajectory control based on rolling time domain optimization. Background technique [0002] The rapid development of Unmanned Underwater Vehicle (UUV) has greatly enhanced the exploration, development and utilization of the ocean by humans. Due to the harsh surrounding environment in some sea areas, surface ships are not allowed to deploy UUVs at close range. Therefore, the researchers proposed the concept of high-altitude gliding UUVs. figure 1 A schematic diagram of a high-altitude gliding UUV. [0003] High-altitude gliding UUV combines high-altitude gliding vehicle technology and unmanned underwater vehicle technology. The equipment can be dropped at high altitude by an aircraft, and it can glide without propulsion by relying on its own flying device. When arriving at th...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 高剑赵新元严卫生张福斌崔荣鑫
Owner NORTHWESTERN POLYTECHNICAL UNIV