Mechanism model-based autonomous underwater vehicle predictive S-plane control method

A technology of an underwater robot and a control method, applied in the control field, can solve the problems of affecting the effect of motion control, difficult to adapt to the complex changing marine environment, difficult to obtain optimal control parameters, etc., to ensure the effect of motion control and good motion control. performance, the effect of improving engineering efficiency

Active Publication Date: 2019-06-18
HARBIN ENG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0007] The present invention solves the problem that the existing S-plane control method of AUV is difficult to obtain optimal control parameters or difficult to adapt to the complex and changing marine environment, thus affecting the motion control effect

Method used

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  • Mechanism model-based autonomous underwater vehicle predictive S-plane control method
  • Mechanism model-based autonomous underwater vehicle predictive S-plane control method
  • Mechanism model-based autonomous underwater vehicle predictive S-plane control method

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specific Embodiment approach 1

[0021] Before describing this embodiment, the parameters are described first;

[0022] Controller structure related parameters:

[0023] k 1 ,k 2 are the control parameters of the S-plane controller; u is the control quantity output by the S-plane control module (that is, T in the S-plane control c ); in Control target amount for AUV movement; y m is the predicted value of the AUV state output by the prediction model module; y p is the predicted value of the AUV state output by the feedback correction module; y out is the state quantity actually output by AUV; N is the number of control beats contained in each parameter adjustment beat;

[0024] Related parameters of the S surface control link:

[0025] o s for the control output; is the rate of change of the deviation between the actual state quantity of the AUV and the target quantity; T max The maximum thrust (torque) that can be provided for the autonomous underwater vehicle; T c is the actual output thrust (to...

specific Embodiment approach 2

[0129] The AUV control model described in this embodiment can have various forms, that is, the control method of the present invention can be applied to various forms of AUV control models. In some embodiments, the AUV control modeling process is as follows:

[0130] The methods of establishing nonlinear models can be roughly divided into three categories: mechanism modeling, experimental modeling, and nonlinear hybrid modeling that combines mechanism modeling and experimental modeling. Mechanism modeling refers to the derivation of out of the mathematical model. The non-linear function of the prediction model link of the present invention adopts mechanism modeling, that is, the following AUV control model established based on the Newton-Euler equation.

[0131] The following two right-handed coordinate systems are established: one is the fixed coordinate system E-ξηζ, which is fixed on the earth; the other is the moving coordinate system O-xyz, which moves with the underwate...

Embodiment

[0179] In order to illustrate the effect of the present invention, the present invention is compared with prior art scheme, specifically as follows:

[0180] (a) S-surface control method based on experience and trial and error

[0181] In current engineering applications, the parameters of the S-surface controller are mainly set by trial and error, that is, the designer selects a set of initial values ​​based on experience, and then repeatedly adjusts them according to the site conditions [9-11].

[0182] This method first requires repeated navigation experiments on the engineering site, then analyzes the motion control response of the autonomous underwater robot under multiple sets of control parameters, and finally selects a set of better results for proper adjustment to obtain the control parameters. The whole process will consume a lot of time and energy, seriously reducing the engineering efficiency on site.

[0183] In addition, in the key links such as selecting the co...

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Abstract

The invention relates to a control method of an autonomous underwater vehicle, in particular, and a mechanism model-based autonomous underwater vehicle predictive S-plane control method. The inventionaims to solve the problem that the motion control effect of an existing AUV S-plane control method is affected due to difficulty in obtaining optimal control parameters or difficulty in adapting to complicated and varied marine environments. According to an AUV control model, a classical S-plane control method is adopted to perform closed-loop control on an AUV; control quantities are outputted from an S-plane control link in each control beat; and the control parameters k1 and k2 of the internal S-plane control link of a controller are set and adjusted by a prediction structure in each parameter setting beat through a bacterial foraging algorithm. The method of the invention is applicable to the control of autonomous underwater vehicles.

Description

technical field [0001] The invention belongs to the technical field of control, and in particular relates to a control method of an autonomous underwater robot. Background technique [0002] With the improvement of the strategic position of the ocean, the importance of autonomous underwater vehicles (AUV) has become increasingly prominent in recent years. AUV can independently complete the operation content according to the task requirements, has important research value and broad application prospects, and has become an indispensable existence in ocean development and exploration. [0003] AUV involves computer, control, materials and other disciplines, and integrates many key technologies such as advanced design and manufacturing technology, energy and propulsion technology, underwater navigation technology and underwater communication technology. Among them, motion control technology is an important part of AUV technology. Only when AUV has good control performance can i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/04G06N3/00
Inventor 万磊孙延超唐文政秦洪德陈辉李骋鹏吴哲远
Owner HARBIN ENG UNIV
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