Unlock instant, AI-driven research and patent intelligence for your innovation.

A new error transformation based trajectory tracking control method for auv preset performance

A trajectory tracking, preset performance technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problem of no clear mathematical relationship of error convergence rate, large overshoot, and uncertainty of error convergence time.

Active Publication Date: 2021-11-30
HARBIN ENG UNIV
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention aims to solve the problem that the performance function parameters introduced by the traditional preset performance control method have no clear mathematical relationship with the actual error convergence rate, resulting in uncertain error convergence time and large overshoot

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A new error transformation based trajectory tracking control method for auv preset performance
  • A new error transformation based trajectory tracking control method for auv preset performance
  • A new error transformation based trajectory tracking control method for auv preset performance

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0025] Specific Embodiment 1: A novel error transformation-based AUV preset performance trajectory tracking control method described in this embodiment includes:

[0026] Taking a certain point E on the sea surface as the origin, the Eξ axis and Eη axis are placed in the horizontal plane and are perpendicular to each other, and the positive direction of the Eξ axis points to the true north; ξηζ);

[0027] With the center of gravity of the AUV as the origin, the water plane passing through the origin as the x-axis, the cross-section passing through the origin as the y-axis, and the longitudinal section passing through the origin as the z-axis, a motion coordinate system (G-xyz) is established;

[0028] The general model equation of AUV is:

[0029]

[0030] Among them, M represents the inertia matrix; C(v) represents the centripetal force matrix; D(v) represents the water damping matrix; g(η) represents the restoring force and moment; η represents the six-degree-of-freedom ...

Embodiment

[0100] In order to verify the effectiveness of the control method designed in the present invention, the present invention performs simulation verification on a certain type of AUV. When the underwater robot is symmetrical, in order to simplify the problem, it can be assumed that the motion of the robot can be decoupled, thereby reducing the number of parameters in the model. Therefore, only part of the hydrodynamic derivative information needs to be provided to calculate the inertia matrix M, the Coriolis and centripetal matrix C(v), and the damping matrix D(v) of the underwater vehicle. The hydrodynamic coefficient and inertia coefficient of the underwater robot are shown in Table 1 and Table 2, respectively. The hydrodynamic coefficient includes the inertial force coefficient, viscous force coefficient and additional mass coefficient.

[0101] Table 1 Hydrodynamic coefficients of underwater robots

[0102]

[0103] Table 2 Inertia coefficient of underwater robot

[01...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a trajectory tracking control method for AUV preset performance based on novel error transformation, which belongs to the field of trajectory tracking control of underwater robots. The invention aims to solve the problems that the performance function parameters introduced by the traditional preset performance control method have no clear mathematical relationship with the actual error convergence rate, which leads to uncertain error convergence time and large overshoot. The method of the present invention includes: according to the control force and moment of the AUV, obtain the actual control force and moment under the influence of the AUV thruster failure; establish an improved performance function, and determine the upper and lower bounds of the trajectory tracking error through the improved performance function; The upper and lower bounds of the trajectory tracking error are determined, and the converted error is obtained; a virtual controller is designed based on the converted error; a preset performance tracking controller is designed based on the virtual controller. The invention is used for trajectory tracking control of AUV.

Description

technical field [0001] The invention relates to an AUV preset performance trajectory tracking control method based on novel error transformation. The invention belongs to the field of trajectory tracking control of an underwater robot. Background technique [0002] In recent years, autonomous underwater vehicles (AUVs) have been widely used in research fields such as marine environment observation and military intelligence collection. With the strengthening of ocean development, the application of AUV has gradually expanded from observation to light operation. For example, the inspection of underwater infrastructure, deep-sea oil and gas exploration and so on. The control system of an underwater robot is equivalent to the "brain" of an AUV, and is the key to AUV research. In order to achieve higher precision trajectory tracking control of underwater robots, a control method called preset performance is gradually used in the design of underwater robot control systems. [...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙延超杜雨桐张宇昂曹禹秦洪德武文骥冯琳森
Owner HARBIN ENG UNIV