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Course correction path tracking method for under-actuated autonomous underwater vehicle

A technology for underwater vehicles and path tracking, which is applied in the direction of instruments, non-electric variable control, vehicle position/route/height control, etc. Error, Path Tracking Accurate Effect

Active Publication Date: 2021-03-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Moreover, underwater vehicles have underactuated characteristics, making it difficult to achieve accurate path-following control

Method used

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  • Course correction path tracking method for under-actuated autonomous underwater vehicle
  • Course correction path tracking method for under-actuated autonomous underwater vehicle
  • Course correction path tracking method for under-actuated autonomous underwater vehicle

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Embodiment Construction

[0029] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the invention.

[0030] see figure 1 — Image 6 , the present invention proposes a course correction path tracking method for an underactuated autonomous underwater vehicle, combining the course correction method and motion control technology of the underw...

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Abstract

The invention discloses a course correction path tracking method for a under-actuated autonomous underwater vehicle. An accurate ideal course is provided by correcting the course angle of the underwater vehicle, and the motion control law of the under-actuated autonomous underwater vehicle is designed, so that accurate path tracking can be effectively realized. The method comprises the following steps: firstly, correcting an ideal course of the underwater vehicle according to the tangential direction of a reference path, and eliminating a tracking error caused by a sideslip angle; then, constructing tracking errors of the underwater vehicle, and establishing a kinetic model of the underwater vehicle; and on the basis, using a Lyapunov equation to solve the motion control law of the underwater vehicle, and calculating the motion control quantity and realizing path tracking of the underwater vehicle. According to the method, a more accurate ideal course angle is provided by correcting the tangential direction of the reference path, and path tracking is converted into ideal course angular velocity tracking, so that the design of a path tracking controller is simplified, and the stability and the control effect of the system are better guaranteed.

Description

technical field [0001] The invention designs a path tracking control method of an underwater vehicle, and in particular relates to a course correction path tracking method of an underactuated autonomous underwater vehicle. Background technique [0002] Underwater vehicle is an important equipment for ocean exploration, and plays an important role in underwater detection, search and other fields. Path tracking control of underwater vehicles is an important method and prerequisite basis for underwater vehicles to avoid obstacles and complete detection tasks. It is widely used in motion control of underwater vehicles and has achieved good results. However, the underwater vehicle has underactuated characteristics and lacks an accurate heading angle generation method, which makes it difficult to effectively control the underwater vehicle and reduces the path tracking effect. At present, the path tracking of underwater vehicles usually uses the tangential direction of the referen...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692Y02T90/00
Inventor 高剑陈依民潘光宋保维王鹏张立川张福斌
Owner NORTHWESTERN POLYTECHNICAL UNIV
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