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Unmanned ship path tracking preset performance control method and system for underwater detection operation

A preset performance, path tracking technology, applied in the direction of control/regulation system, vehicle position/route/height control, height or depth control, etc.

Active Publication Date: 2021-08-06
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] The present invention faces the safety and precision requirements of underwater detection operations, and solves the problem of unmanned boat preset performance path tracking control under the influence of actuator time delay

Method used

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  • Unmanned ship path tracking preset performance control method and system for underwater detection operation
  • Unmanned ship path tracking preset performance control method and system for underwater detection operation
  • Unmanned ship path tracking preset performance control method and system for underwater detection operation

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Embodiment example

[0072] In order to verify the effect of the control method described in the present invention, take a certain unmanned boat as the simulation object to carry out the following simulation test: unmanned boat initial position [x (0), z (0), θ (0)] = [-4m ,18m,0rad].

[0073] The simulation results are as follows, Figure 4 The effect duration curve of UAV path tracking is shown, Figure 5 The time curves of forward tracking error, vertical tracking error and pitch angle velocity tracking error of the path tracking of the unmanned vehicle are shown. Set the upper and lower bounds of the performance function. Image 6 Display the time-lapse curve of the speed of the UAV, Figure 7 The duration curve of the rudder angle command during path tracking is shown. It can be seen that the rudder angle given by the controller can still complete the path tracking task under the influence of the delay characteristic of the steering gear.

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Abstract

The invention provides an unmanned ship path tracking preset performance control method and system for underwater detection operation. Error conversion is carried out based on a performance function, and a foundation is laid for implementation of a preset performance control technology. A novel preset performance virtual speed law is provided based on an inversion design method; meanwhile, in order to avoid singularity of a subsequent dynamic control law, a preset performance guidance law for switching the state change of the visual system inside and outside a zero neighborhood is designed; the expected pitch angle speed capable of ensuring that the system error variable moment is in the preset constraint is further obtained; and a robust dynamic controller under the influence of time delay is designed based on a fuzzy supervision mechanism; and finally, the control method is embedded into a boat-mounted computing device based on computer language programming to form a computer readable storage medium which is used for computing the preset performance path tracking control law, obtaining a control instruction, driving an execution mechanism module to act and realizing accurate and stable path tracking, so operation precision and safety of the unmanned ship in the underwater detection process can be ensured.

Description

technical field [0001] The present invention relates to the technical field of unmanned boat control, and more specifically, to an unmanned boat path tracking preset performance control method and system for underwater detection operations. Background technique [0002] As one of the four strategic spaces (land, sea, air, and sky) for human development, the ocean stores about 97% of the earth's water, and also contains various marine energy, mineral resources, and biological resources. Unmanned boats have become a common marine operation tool due to their wide operating field, high degree of intelligence, and flexible monitoring range. In order for it to complete the tasks to be performed, it usually needs to navigate accurately and autonomously along the planned path, which is also the original intention of the path tracking control technology research. During the tracking process, the unmanned boat uses the sensors on board to conduct all-round detection of the target are...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 向先波李锦江张琴向巩杨少龙
Owner HUAZHONG UNIV OF SCI & TECH
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