Composite track tracking control method for unmanned underwater vehicle
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An underwater vehicle and control method technology, applied in three-dimensional position/channel control, adaptive control, general control system and other directions, can solve the problems of uncertain fluid disturbance, difficult control system design, etc., to simplify design and improve tracking performance, the effect of eliminating chattering
Active Publication Date: 2019-04-16
DALIAN MARITIME UNIVERSITY
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The underwater space motion model of an unmanned underwater vehicle is nonlinear, strongly coupled, and has uncertain motion control with variable parameters. In addition, there are uncertain disturbances in the fluid in practical applications, which brings great challenges to the design of the control system. difficulty
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[0062] In order to make the technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:
[0063] In order to better determine the position, attitude and speed of the UUV, and then study the motion law of the UUV, it is necessary to establish a model suitable for describing the motion of the UUV. Considering the complexity of the unmanned underwater vehicle and the time-varying and random nature of the underwater environment, combined with the mechanism modeling, the simulation model controlled in this paper is a low-speed unmanned underwater vehicle propelled by five propellers. The configuration structure of the five propellers is as follows: figure 1 As shown, they are: main stern thruster, left bow thruster, right stern thruster, bow vertical thruster and stern vertical thrust...
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Abstract
The invention discloses a composite track tracking control method for an unmanned underwater vehicle. The method includes the following steps that: S1, an unmanned underwater vehicle dynamic model under a geodetic coordinate system is constructed on the basis of a kinematic model and a dynamic model; S2, variable transformation is carried out on the basis of the unmanned underwater vehicle dynamicmodel; and S3, a Lyapunov function is defined according to a designed underwater vehicle controller, and the derivative of the Lyapunov function with respect to time is obtained through a matrix Young inequality, and it is proved that the composite tracking control method tends to be stable within a limited time, and the track tracking error of the method approaches to zero within the limited time; and S4, wind, wave, and flow disturbance conditions in an marine environment are simulated, and the desired track of the unmanned underwater vehicle is set, and a simulation experiment is designedto prove the effectiveness and superiority of the control method.
Description
technical field [0001] The invention relates to the field of control of unmanned underwater vehicles, in particular to a compound track tracking control method for unmanned underwater vehicles. Background technique [0002] Unmanned Underwater Vehicle (UUV), as an interdisciplinary product of shipbuilding, marine engineering and robotics, is a highly intelligent body that includes mechanics, control, communication, machinery and many other technologies. It has a high safety factor, It has unique advantages such as low cost, small size, light weight, high flexibility, and wide range of activities, and can perform long-term observation, detection, and salvage operations in water, so it is widely used in many fields such as military affairs, science, and economy. In the military field, UUV, as a new type of modern high-tech equipment for future ocean warfare, has important uses in anti-submarine, anti-mine, sea blockade and anti-blockade; in the field of science, UUV can conduc...
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