Full-drive underwater vehicle track tracking control method based on optimization algorithm

Abstract

The invention relates to a full-drive underwater vehicle track tracking control method based on an optimization algorithm, and belongs to the technical field of underwater vehicle track tracking control. The method comprises the steps of obtaining motion parameters of a vehicle, and designing a motion attitude constraint vector and a speed constraint vector of the vehicle; calculating a tracking error, and obtaining a kinematics controller and a dynamics controller according to the six-degree-of-freedom model of the vehicle; finally, obtaining the expected speed through the kinematics controller, and deriving the force and the moment in each degree of freedom through the dynamics controller; and carrying out the method until track tracking is completed. The redundancy problem of a full-drive vehicle in tracking a three-dimensional curve is solved, and meanwhile the attitude and speed constraint problem of the vehicle in the moving process is considered. An attitude and speed constraintconstruction optimization problem is a convex optimization problem, multiple reliable methods are provided for solving, and the solving speed can meet the real-time requirement; and the problem of speed saturation in operation of the full-drive vehicle is fully considered, and the practicability is high.

Description

technical field [0001] The invention relates to the technical field of track tracking control of underwater vehicles, in particular to a track tracking control method for fully driven underwater vehicles based on an optimization algorithm. Background technique [0002] Underwater vehicles are important tools in marine engineering, such as underwater pipeline inspection, 3D terrain mapping, and high-value target search, and 3D track tracking is a fundamental problem for underwater vehicles to perform these tasks. At present, a variety of algorithms have been successfully applied to track tracking of underwater vehicles, such as adaptive control, sliding mode control, neural network control, fuzzy control, etc., which can be divided into underactuated vehicles and full-drive navigation according to different applicable objects. controller control algorithm. [0003] For the three-dimensional track-following problem, an underactuated vehicle, such as a common torpedo-type vehi...

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Problems solved by technology

[0007] However, the existing technology has not paid attention to the constraints in the track tracking problem. Since the speed that the aircraft can reach in each degree of freedom is limited by the thrust configuration and hydrodynamic performance of the aircraft, the constraints become a problem in the track tracking problem. Cannot be ignored

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