Dynamic state feedback control method based on heading motion of autonomous underwater robot
An underwater robot and feedback control technology, which is applied in the direction of height or depth control, can solve problems such as the inability to solve the coupling effect of longitudinal speed on heading motion, slow response of system motion control, and complex model expression, so as to achieve easy implementation and guarantee Control quality and weaken the effect of mutual interference
Active Publication Date: 2021-08-31
EAST CHINA UNIV OF TECH
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Since the AUV system heading motion model is a system strongly coupled to the longitudinal velocity, and the model expression is complex, the system motion control method has many calculations and a large amount of calculation, which leads to the slow response of the system motion control
Many experts use the PID control method. In the AUV field test, the system motion control mostly adopts the segmented PID control method. The so-called segment is to set different PID control parameter groups according to the different longitudinal speeds. Each control parameter group needs to be tested at different longitudinal speeds. Therefore, a large number of experiments may be required to determine the corresponding control parameters of each speed segment, and the coupling effect of the longitudinal speed on the heading motion cannot be solved
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[0049] The present invention will be described in more detail through the accompanying drawings and specific embodiments below. For the dynamic feedback control method with the AUV directional motion model as the controlled object, firstly, the directional motion model should be selected according to the motion characteristics of the AUV system, its complete controllability should be determined, the desired pole should be preset, and the desired characteristic equation should be obtained; parameter k r k ψ And substituting it into the state equation, the characteristic equation containing the state feedback control law is obtained; the two characteristic equations are combined to determine the control parameters of the AUV system. In the following, a certain AUV system is used as the controlled object to determine the control parameter k r k ψ :
[0050] preset desired pole λ ψ =-0.5,λ r =-0.3, determine the control parameter k that contains parameter a and b by technica...
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The invention discloses a dynamic state feedback control method based on the heading motion of an autonomous underwater robot. The technical scheme proposed by the present invention is, firstly, constructing the AUV system heading motion model according to the characteristics of the heading motion model of the autonomous underwater robot, and this model is coupled with the longitudinal velocity; then, judging whether the system can realize Arbitrary configuration of poles, the analysis can prove that this kind of model has complete controllability, can realize arbitrary configuration of poles, preset expected poles to obtain the desired characteristic equation; at the same time, substitute the two control parameters into the control law as the quantity to be sought, and obtain A characteristic equation containing control parameters; the present invention obtains the steps of obtaining key control parameters by combining the desired characteristic equation with the characteristic equation containing control parameters. This control method is a simple and general second-order AUV heading dynamic state feedback control method, and this method can also be extended to other AUV systems with two vertical rudders to control the heading.
Description
technical field [0001] The design of the present invention is a heading motion control technology, in particular a method in which the autonomous underwater robot system controls the executive mechanism as a vertical rudder and dynamically adjusts the state feedback control parameters by using the longitudinal speed. Background technique [0002] Accurate heading motion control is the key to autonomous underwater vehicles (AUV-Autonomous Underwater Vehicle) completing underwater tasks, such as underwater path tracking, underwater sampling, underwater welding and other tasks, which have an important role and significance. However, the AUV system heading motion model has the characteristics of strong complexity, nonlinearity and coupling, and the external environment interference is difficult to describe, which increases the difficulty of designing the heading motion control strategy of the AUV system. The heading control of the AUV system has a strong coupling relationship wi...
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IPC IPC(8): G05D1/06
Inventor 周焕银刘金生
Owner EAST CHINA UNIV OF TECH