Cooperative rendezvous and docking control method of unmanned ship and unmanned underwater vehicle combined system

Abstract

The invention relates to a cooperative rendezvous and docking control method of an unmanned ship and unmanned underwater vehicle combined system. The cooperative rendezvous and docking control method comprises the following steps of: 1) establishing an unmanned underwater vehicle dynamic model and an unmanned ship dynamic model under external low-frequency disturbance, and carrying out discretization; 2) collecting the state information of the unmanned ship and the unmanned underwater vehicle at a current k moment; 3) estimating external disturbance to obtain an estimated value; (4) acquiring a series of nominal thrust and disturbance compensation force from the current moment to a moment k+N through optimization calculation based on a model predictive control thought; and 5) according to the obtained thrust sequence, adding the obtained first thrust and the compensation force and applying them to the system as control input at the current moment, so that docking control of the unmanned underwater vehicle and the unmanned ship is carried out. Compared with the prior art, the dynamic docking of the unmanned ship and the unmanned underwater vehicle in a complex disturbance marine environment can be realized, and the docking precision is improved.

Description

technical field [0001] The invention relates to a multi-ocean robot cooperative rendezvous and docking control technology, in particular to a cooperative rendezvous and docking control method of a joint system of an unmanned boat and an underwater unmanned submersible. Background technique [0002] With the increasing emphasis on marine resources, marine exploration technology has become the top priority for resource exploration and marine scientific research. In ocean exploration technology, the related control technology of marine robots represented by unmanned boats and underwater unmanned submersibles is the key to improving the efficiency of exploration. Traditional marine robot technology mainly focuses on the control of monomers, such as Trajectory tracking, cruise control, etc. However, because the underwater unmanned submersible is limited by its volume, its endurance and data storage capacity are greatly limited. Therefore, it is difficult for a single marine robo...

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Problems solved by technology

The combined system of the two is more complex, facing complex disturbances of cross-domain wind, wave and flow, it is very difficult to achieve relatively static rendezvous and docking cooperative control

[0005] In the past two decades, the United States has conducted a series of research in related fields, such as the MIT team and Texas A&M University, etc., but most of them stay in the collaborative path planning of unmanned boats and underwater unmanned submersibles, and there are few researches that go deep into the control level. ; Some teams in Europe, such as the Swedish Royal Institute of Technology, have conducted research on the dynamic docking of unmanned boats and UAVs; my country started relatively late in the marine field. Some work has been done, but there is less research in the field of docking control between unmanned boats and underwater unmanned submersibles

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