Autonomous underwater vehicle course angle control method based on improved firefly PID method

A technology of underwater vehicles and control methods, applied in the direction of attitude control, etc., can solve problems such as difficult to accurately describe the working environment of mathematical models, difficult to obtain control effects, etc.

Pending Publication Date: 2020-11-27
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0003] Autonomous underwater vehicle (AUV) is a complex and sophisticated high-tech integration, involving many aspects of science and technology; It is difficult to accurately describe the mathematical model and its working

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  • Autonomous underwater vehicle course angle control method based on improved firefly PID method
  • Autonomous underwater vehicle course angle control method based on improved firefly PID method
  • Autonomous underwater vehicle course angle control method based on improved firefly PID method

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Embodiment Construction

[0040] 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.

[0041] The present invention mainly aims at the heading angle control problem of the autonomous underwater vehicle, utilizes the improved firefly algorithm, proposes an autonomous underwater vehicle attitude control method based on the improved firefly PID method, by using the PID control parameters as the solution space of the firefly value, the error performance is used as the evaluation function of the improved firefly algorithm, and the adaptive adjustment of the parameters of the PID controller for the heading angle of the autonomous underwater vehicle is realized. The simulation results show that the improved algorithm solves the problem caused by the improper selection of the controller parameters. For the problems of overshoot and long response time, th...

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Abstract

The invention aims to solve a problem of course angle control of an autonomous underwater vehicle. An improved firefly algorithm is used; the invention provides an autonomous underwater vehicle attitude control method based on an improved firefly PID method. PID control parameters are used as values of a firefly solution space; the error performance is used as an evaluation function of an improvedfirefly algorithm; the parameters of the PID controller for the course angle of the autonomous underwater vehicle are adaptively adjusted, a simulation result shows that the improved algorithm solvesthe problems of overshoot and overlong response time caused by improper selection of the parameters of the controller, and the improved firefly algorithm can be used for adaptively modulating the PIDcontrol parameters.

Description

technical field [0001] The invention relates to the technical field of autonomous underwater vehicle control, in particular to an autonomous underwater vehicle heading angle control method based on an improved firefly PID method. Background technique [0002] With the continuous deepening of ocean development, intelligent underwater vehicles (AUV) are more and more small in size, without cables, flexible in movement, deep in diving depth, can enter complex environments, and do not need huge water surface support, and can operate autonomously Due to its advantages, it has become an important tool for marine development. [0003] Autonomous underwater vehicle (AUV) is a complex and sophisticated high-tech integration, involving many aspects of science and technology; It is difficult to accurately describe the mathematical model and its working environment, and sometimes even a given task requires variable AUV loads, which determines that it is difficult to achieve ideal contr...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/08
Inventor 刘明雍游粮根焦振宏牛云向举苗赵格睿汪培新
Owner NORTHWESTERN POLYTECHNICAL UNIV
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