Motion control method of manned submersible

A manned submersible, motion control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of waste of resources, poor robustness, and inability to meet the needs of use, and achieve the goal of reducing energy consumption. Consumption, improve the effect of robustness

Inactive Publication Date: 2021-03-16
JIANGNAN UNIV
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Problems solved by technology

[0002] Existing manned submersibles usually use the PID control method for motion control, and directly obtain the pseudo-inverse of the control matrix to distribute the thrust to the control effect, but the robustness of the above-mentioned control method is not st

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  • Motion control method of manned submersible
  • Motion control method of manned submersible
  • Motion control method of manned submersible

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Embodiment Construction

[0047] The present invention will be further described below in conjunction with drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not as limitations of the present invention.

[0048] refer to figure 1 , the present embodiment discloses a motion control method of a manned submersible, comprising the following steps:

[0049] 1) Establish the dynamic model of the manned submersible according to the position information, attitude information and composite interference information of the manned submersible;

[0050] 2) Simplify the dynamic model of the manned submersible; build an extended state observer, and use the extended state observer to obtain the estimated value of the composite interference information;

[0051] 3) The sliding mode controller is designed using the full-order non-singular terminal sliding mode;

[0052] 4) The thrust of the manned submersible is c...

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Abstract

The invention discloses a motion control method of a manned submersible. The motion control method comprises the following steps: establishing a kinetic model of the manned submersible according to position information and attitude information of the manned submersible and received composite interference information; simplifying the kinetic model of the manned submersible; constructing an extendedstate observer, and acquiring an estimated value of the composite interference information by using the extended state observer; designing a sliding mode controller by adopting a full-order nonsingular terminal sliding mode; and controlling and distributing the thrust of the manned submersible according to the sliding mode controller and a quadratic programming method. According to the method, the operation control robustness of the submersible can be effectively improved, a buffeting phenomenon is avoided, meanwhile, the thrust control distribution of the submersible can be well carried out,and the energy consumption is reduced.

Description

technical field [0001] The invention relates to the technical field of motion control of a manned submersible, in particular to a motion control method of a manned submersible. Background technique [0002] Existing manned submersibles usually use the PID control method for motion control, and directly obtain the pseudo-inverse of the control matrix to distribute the thrust to the control effect, but the robustness of the above-mentioned control method is not strong, but has a strong robustness The inherent sliding mode control algorithm also has the problem of chattering, and the above-mentioned thrust distribution method consumes a lot of energy, which is easy to cause waste of resources and cannot meet the use requirements. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a motion control method for a manned submersible, which can effectively improve the robustness of the operation control of the submersible an...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/10
CPCG05B13/042G05D1/10
Inventor 方星刘飞
Owner JIANGNAN UNIV
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