AUV error limited anti-interference control method

A control method and error technology, which are applied in the fixed-point operation field of underwater AUV carrying an underwater manipulator to achieve the effect of good operation effect and good suppression ability.

Active Publication Date: 2021-02-05
HARBIN ENG UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004]Aiming at the above-mentioned prior art, the technical problem to be solved by the present invention is to provide an AUV error-limited anti-disturbance control method, which can be aimed at ocean current disturbance and complex seabed environment , AUV's own structural uncertainty and other issues to control the attitude and posit

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Embodiment 2

[0057] Implementation 2: as attached figure 2 As shown, the UVMS system is mainly composed of two parts: AUV and underwater robotic arm:

[0058] AUV body: The AUV is torpedo-shaped as a whole, which can effectively reduce the resistance of its water movement. The joint action of the propeller and the cross rudder is used to control the position and attitude of the AUV, because the number of system control variables is 3, but its freedom of movement The degree is 6, so the AUV is an underactuated system.

[0059] Underwater robotic arm: The UVMS system uses a four-degree-of-freedom robotic arm with an end effector as a working tool. The underwater robotic arm consists of four parts: the rotary joints of the waist and wrist, and the swing joints of the upper arm and forearm. The combined rotational motion of the four joints can complete the position and attitude control of the end effector of the underwater manipulator.

[0060] The UVMS system composed of AUV body and under...

Embodiment 3

[0071] Implementation 3: According to step 2, establish a three-dimensional error dynamics model based on the line-of-sight method and set performance, and then estimate the coupling interference of the underwater manipulator to the AUV body through the Newton-Euler method.

[0072] AUV related parameters are described as follows:

[0073]

[0074] as attached image 3 As shown, the position error of AUV tracking (x e , y e and z e ) and the tracking error of the AUV based on the virtual guide (ρ e , γ and φ) have the following geometric relationship:

[0075] x e =ρ e cosφcosγ

[0076] the y e =ρ e cosφsinγ

[0077] z e =ρ e sinφ

[0078] For the convenience of design, the distance and attitude errors of the actual AUV and the virtual guide in inertial coordinates can be converted to the AUV carrier coordinate system:

[0079]

[0080] Deriving it:

[0081]

[0082]

[0083]

[0084] For convenience of representation, define α 1 , a 2 and α 3 : ...

Embodiment 4

[0184] Implementation 4: The block diagram of the AUV anti-interference controller is attached Figure 4 Show. According to the task requirements of AUV in the process of underwater fixed-point operation, based on the implementation of the three-dimensional AUV error dynamic equation established by the line-of-sight method and the set function and the Newton-Euler (Newton-Eular) formula to derive the underwater The disturbance torque of the robotic arm to the AUV body is directly compensated in the AUV disturbance rejection controller. The AUV disturbance rejection controller consists of error control items, neural network control items, adaptive control items and manipulator coupling disturbance estimation items. The error control term is used to reduce the tracking error during the movement of the AUV. The manipulator coupling interference estimation term compensates the interference of the manipulator to the AUV body in real time. The neural network control term compensate...

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Abstract

The invention relates to an AUV (autonomous underwater vehicle) error limited anti-interference control method, and designs an AUV error limited anti-interference control method on the basis of the problems of an AUV in executing an underwater fixed-point task, such as the influence of non-structural uncertainty caused by factors such as coupling interference of an underwater mechanical arm, structural uncertainty of an AUV system, ocean current interference and the like. According to the method, the coupling interference of the underwater mechanical arm can be compensated, the structural andnon-structural uncertainty of the AUV is resisted, meanwhile, the trajectory and attitude tracking error of the AUV in a three-dimensional space can be converged to an expected trajectory within limited time according to set performance, and the requirements of underwater fixed-point operation are met. The AUV and the controller of the underwater mechanical arm are organically integrated, the overall control performance is good, important help is provided for disturbance resistance of underwater fixed-point operation of the AUV, and important engineering value and practical significance are achieved.

Description

technical field [0001] The invention relates to an anti-disturbance control method with limited AUV error, belonging to the technical field of fixed-point operation of an underwater AUV carrying an underwater manipulator. Background technique [0002] The key technologies for AUV development include improving endurance technology, underwater high-speed communication technology, precise navigation and positioning technology, advanced autonomous decision-making technology and motion control technology. Among many key technologies, motion control technology is particularly important. Only with high-precision and robust motion control methods, AUVs can autonomously complete tasks in the ocean, deep sea, and harsh sea conditions. The main reasons why it is difficult to control underwater autonomous robots are: the highly nonlinear and time-varying dynamic characteristics of the robot, the uncertainty of the hydrodynamic coefficient, the coupling between the motions of various deg...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 魏延辉于恬付敬恒邵红王玥玥樊雅妮郭彤旭谢吉顺
Owner HARBIN ENG UNIV
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