PID-based underwater vehicle track indirect automatic control method

Abstract

The invention discloses an underwater vehicle track indirect automatic control method based on PID, and belongs to the technical field of underwater vehicle manipulation control. The broken line included angle of adjacent track segments is calculated according to a planned route, and the switching radius R of track segment switching is solved by combining the minimum turning radius of an underwater vehicle; or the switching radius R of track segment switching is preset; in the track tracking process, the distance r between the underwater vehicle and the next track point is calculated in real time according to the current position of the underwater vehicle and the planned course, and if r is smaller than R, the track is switched; based on track point coordinates in the current track segment, the course deviation normal distance Dis between the current position of the underwater vehicle and the current track segment is obtained, an instruction course is obtained under the action of a PID control law, amplitude limiting is conducted on the instruction course through the maximum deflection course of the current track segment, and then the instruction course is output to a course control ring of the underwater vehicle; the required instruction course is calculated only according to the real-time state of the underwater vehicle and is sent to the course control ring, and an execution mechanism of the underwater vehicle does not need to be directly controlled.

Description

technical field [0001] The invention belongs to the technical field of underwater vehicle manipulation control, and more specifically relates to a PID-based indirect automatic control method for underwater vehicle track. Background technique [0002] Underwater submersibles are often required to travel along the planned route during the execution of tasks, but due to the influence of ocean current disturbance and error accumulation, in the actual process, the course of the submersible generally deviates from the established route. On a manned submersible, the commander issues course control commands or steering commands based on the navigation information in a certain period to adjust the course of the submersible so that it returns to the planned route. The quality of track control also depends on the commander's operating experience. This artificial track control method puts forward higher requirements on the commander's operation level and relies on navigation experience....

AI Technical Summary

Problems solved by technology

On a manned submersible, the commander issues course control commands or steering commands based on the navigation information in a certain period to adjust the course of the submersible so that it returns to the planned route. The quality of track control also depends on the commander's operating experience. This artificial track control method puts forward higher requirements on the commander's operation level and relies on navigation experience. Due to limited communication, it is difficult for shore-based personnel to issue course adjustment commands in a timely manner on unmanned submersibles, so unmanned submersibles often require submersibles to have autonomous navigation. trace control function

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