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Preset Performance Trajectory Tracking Control Method for Submarine Flight Nodes Considering Thruster Output Saturation

A trajectory tracking and preset performance technology, which is applied in the direction of control/regulation system, height or depth control, non-electric variable control, etc., can solve the problem of propeller failure and propeller output without considering sea current disturbance and modeling uncertainty at the same time Saturation and other issues

Active Publication Date: 2021-05-07
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The purpose of the present invention is to solve the problem that the current technology does not consider the influence factors such as ocean current disturbance, modeling uncertainty, propeller failure and propeller output saturation, and propose a submarine flight node prediction method considering propeller output saturation. Design performance trajectory tracking control method

Method used

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  • Preset Performance Trajectory Tracking Control Method for Submarine Flight Nodes Considering Thruster Output Saturation
  • Preset Performance Trajectory Tracking Control Method for Submarine Flight Nodes Considering Thruster Output Saturation
  • Preset Performance Trajectory Tracking Control Method for Submarine Flight Nodes Considering Thruster Output Saturation

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specific Embodiment approach 1

[0038] Specific embodiment one: the seabed flight node preset performance trajectory tracking control method considering propeller output saturation includes the following steps:

[0039] Motion coordinate system (G-xyz): The origin G is taken at the center of gravity of the OBFN, and the x-axis, y-axis and z-axis are respectively the intersection lines of the waterplane, transverse section and mid-longitudinal section passing through the origin.

[0040] Inertial coordinate system (E-ξηζ): The origin E can be selected at a certain point on the sea surface, the Eξ axis and Eη axis are placed in the horizontal plane and are perpendicular to each other, and the Eξ axis is positively pointing to the true north. Eζ is perpendicular to the Eξη plane, pointing to the center of the earth.

[0041] Fossen outline six degrees of freedom nonlinear dynamic model:

[0042]

[0043]

[0044] In the formula: M is the mass inertia matrix, η=[x, y, z, φ, θ, ψ] T Indicates the six-degr...

specific Embodiment approach 2

[0177] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the specific process of setting up the Fossen outline six-degree-of-freedom nonlinear dynamic model in the described step one is:

[0178] The origin G of the motion coordinate system (G-xyz) is taken at the center of gravity of the OBFN, and the x-axis, y-axis, and z-axis are the intersection lines of the waterplane, transverse section, and middle longitudinal section passing through the origin, respectively;

[0179] The origin E of the fixed coordinate system (E-ξηζ) is selected at a certain point on the sea surface. The Eξ axis and Eη axis are placed in the horizontal plane and are perpendicular to each other. Heart;

[0180] Fossen outline six degrees of freedom nonlinear dynamic model:

[0181]

[0182]

[0183] Where η=[x,y,z,φ,θ,ψ] T Indicates the six-degree-of-freedom position and attitude of OBFN in the earth coordinate system, where x is the displacement of...

specific Embodiment approach 3

[0185] Specific embodiment three: what this embodiment is different from specific embodiment one or two is: in described step 2, the Fossen outline six degree of freedom nonlinear dynamics model that step 1 establishes carries out the dynamics model conversion of OBFN, obtains the OBFN Dynamic model, the specific process of determining the tracking error equation of OBFN according to the dynamic model of OBFN is:

[0186] The fault effect of the propeller of OBFN is expressed in the form of a thrust distribution matrix, which is defined as ΔB; therefore, the actual control force and moment are rewritten as τ+Δτ:

[0187] τ+Δτ=(B 0 -KB)u=(B 0 +ΔB)u (5)

[0188] In the formula, B is the thrust distribution matrix of OBFN, τ is the actual control force of the thruster of OBFN, Δτ is the influence value of thruster failure on thruster thrust, K is a diagonal matrix, and its element k ii ∈[0,1], represents the corresponding thruster failure degree, where 1 represents the highest...

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Abstract

The invention relates to a track tracking control method for a preset performance track of a submarine flight node considering propeller output saturation. The present invention aims to solve the problem that the prior art does not simultaneously consider influence factors such as ocean current disturbance, modeling uncertainty, propeller failure and propeller output saturation. The present invention comprises: one: establish the non-linear dynamics model of Fossen outline six degrees of freedom; two: obtain the dynamics model of OBFN, determine the tracking error equation of OBFN according to the dynamics model of OBFN; three: establish performance function; four: step 3. Perform error transformation on the tracking error to obtain the transformed error s; 5. Introduce propeller output saturation and determine the auxiliary system used to deal with propeller output saturation; 6. Design the total uncertainty observer and preset performance of the OBFN system Trajectory tracking controller. The invention is used in the field of trajectory tracking control.

Description

technical field [0001] The invention relates to a tracking control method for preset performance tracks of submarine flight nodes. Background technique [0002] The deep sea contains treasures that are far from being recognized and developed on the earth. To obtain these treasures, it is necessary to master key technologies in deep sea entry, deep sea exploration, and deep sea development. Autonomous underwater vehicle (AUV) is the core common key technology to break through this aspect. Ocean bottom node seismic data acquisition technology (Oceanbottom node, OBN) is a common submarine seismic oil exploration method. However, the existing OBN itself has no power, and the deployment and recovery efficiency is low, so it is difficult to meet the needs of large-scale network deployment. In this context, the concept of Ocean bottomflying node (OBFN) came into being. OBFN is a combination of OBN technology and AUV. It inherits the advantages of OBN acquisition signal quality a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 秦洪德孙延超吴哲远李晓佳张栋梁汪向前
Owner HARBIN ENG UNIV
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