CN106527454B - A kind of long-range submarine navigation device depth-setting control method of no steady-state error - Google Patents
A kind of long-range submarine navigation device depth-setting control method of no steady-state error Download PDFInfo
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- CN106527454B CN106527454B CN201610932060.6A CN201610932060A CN106527454B CN 106527454 B CN106527454 B CN 106527454B CN 201610932060 A CN201610932060 A CN 201610932060A CN 106527454 B CN106527454 B CN 106527454B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000013461 design Methods 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims description 11
- FNMKZDDKPDBYJM-UHFFFAOYSA-N 3-(1,3-benzodioxol-5-yl)-7-(3-methylbut-2-enoxy)chromen-4-one Chemical compound C1=C2OCOC2=CC(C2=COC=3C(C2=O)=CC=C(C=3)OCC=C(C)C)=C1 FNMKZDDKPDBYJM-UHFFFAOYSA-N 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 125000002619 bicyclic group Chemical group 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001970 hydrokinetic effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Feedback Control In General (AREA)
Abstract
The present invention relates to a kind of long-range submarine navigation device depth-setting control methods of no steady-state error, on the basis of bicyclic output feedback ontrol method, depth compensation is obtained using depth offset, to be corrected in real time to steering control, deep-controlled steady-state error is eliminated, the needs of submarine navigation device exact depth control are met.It is an advantage of the invention that the longitudinal movement for being suitable for long-range submarine navigation device controls, number of parameters is few, and structure is simple, adaptive ability is strong, and convenient for adjusting, control precision is high, it can be applied to underwater robot control system design, carry out marine environmental monitoring, maintenance of underwater facility etc..
Description
Technical field
The present invention relates to a kind of depth-setting control methods of the long-range submarine navigation device of no steady-state error, belong to submarine navigation device
Motion control field.
Background technique
Currently, the bicyclic output feedback depth-setting control method of " pitch angle+depth ", this method is widely used in submarine navigation device
It is simple and effective.But for general submarine navigation device, gravity and buoyancy cannot be essentially equal, and do not have ideal
Up-down symmetry causes deep-controlled under depthkeeping direct route state with the balance pitch angle and plane angle of balance of non-zero at this time
Steady-state error.Conventional method takes the method for setting free angle, i.e., one is superimposed on the basis of original double-loop feedbackc just
When fixed angle, the steering that is generated by depth steady-state error is offset, to eliminate depthkeeping error.
Error when due to processing and manufacturing, there are one for the hydrokinetic parameter and weight parameter of same model submarine navigation device
Difference is determined, and density of sea water can also change under different waters, depth, it cannot be guaranteed that submarine navigation device equilibrium state is complete
Complete consistent, difference is especially significant at low speeds for this, therefore suitable free angle can not be selected to meet in various situations and determined
Deep tolerance design index request brings difficulty for the development of control system.
Summary of the invention
In order to avoid the shortcomings of the prior art, the present invention proposes that a kind of long-range submarine navigation device of no steady-state error is fixed
Deep control method is compensated using control law estimating depth, is modified in real navigation to depth compensation, is guaranteed without stable state
The long-range submarine navigation device depth-keeping navigation of error.
A kind of long-range submarine navigation device depth-setting control method of no steady-state error, comprising the following steps:
Step 1: before starting navigation, according to the balanceable attack angles of submarine navigation device model parameter calculation and plane angle of balance nominal value
α∞、δ∞, according to control law δ∞=cyΔy∞+cθα∞, calculate depth compensationWherein, cyIt is big
In zero deep-controlled parameter, the Gesture selection of latent process, c are climbed according to depthkeepingθFor the pitch angle control parameter greater than zero；
Step 2: after submarine navigation device starts navigation, within each control period, depth information being sampled, is calculated
Depth offsetWherein: y (k) is by depth sensing
The keel depth that device measurement obtains, ydFor designated depth, Δ ymax> 0 is depth offset amplitude limit value；
Step 3: the value of observational record Δ y (k), count value n=n+1；
Step 4: if data volume n=N, N are the number of samples of design, calculating depth offset average valueAnd varianceAnd enable n=0；IfJudge that depth is stablized,The parameter being positive,Value should be greater than the variance of depth measurement noise, carry out
The corrected Calculation of depth compensation: Δ y∞=Δ y∞+E(Δy(k))；
Step 5: calculating horizontal rudder angle steering instruction δe(k)=cy(y(k)-yd+Δy∞)+cθθ (k), wherein δeGrasping lower rudder is
Just, θ (k) is the pitch angle measurement value for the current control period k that attitude transducer obtains, and is positive with coming back；
Step 6: clipping is carried out according to submarine navigation device hard over angle:
Wherein, δmin、δmaxFor rudder angle maximin, and steering instruction is sent into a steering mechanism；
Step 7:k=k+1 repeats step 2, until hours underway arrives or navigational duty is completed.
In a preferred embodiment of the invention, the control method utilizes the variance of depth offset, judges underwater boat
Whether row device, which reaches depth, is stablized, and is stablized if reaching depth, and using the average value of depth offset, Corrected Depth compensation guarantees
Depth-keeping navigation of the submarine navigation device without steady-state error.
In a preferred embodiment of the invention, the cyValue range 0.01~0.05, cθValue range 0.5~5.
In a preferred embodiment of the invention, the Δ ymaxValue range is 5m~20m.
By above scheme, effect of the invention is that:
The present invention is eliminated using depth compensation adaptation mechanism instead of the method for fixing free angle in Traditional control
Deep-controlled error caused by submarine navigation device difference equilibrium state.
The longitudinal movement that the present invention is suitable for long-range submarine navigation device controls, with number of parameters is few, structure is simple, adaptive
Should be able to power it is strong, convenient for adjusting, controlling advantage with high accuracy, can be used for underwater robot control system design, carry out marine environment
Monitoring, maintenance of underwater facility etc..
Detailed description of the invention
Fig. 1: being no steady-state error submarine navigation device Depth control flow chart.
Specific embodiment
Now in conjunction with embodiment, the invention will be further described for attached drawing 1:
Depth, pitch angle measurement value of the present invention according to submarine navigation device, carry out control law calculating, generate rudder angle and refer to
It enables, Depth control is carried out for submarine navigation device.Wherein, depth measurement is obtained by pressure sensor, and pitch angle measurement is by tilting
Instrument or inertial navigation system obtain.
A kind of long-range submarine navigation device depth-setting control method of no steady-state error, comprising the following steps:
Step 1: setting balanceable attack angles estimate initial value α∞, plane angle of balance estimation initial value δ∞, depth compensation Δ y∞.Wherein,
α∞、δ∞Respectively according to the balanceable attack angles of submarine navigation device model parameter calculation and plane angle of balance nominal value, Δ y∞It is according to control
Make rule δ∞=cyΔy∞+cθα∞The depth compensation of calculating, cyFor the deep-controlled parameter greater than zero, latent process is climbed according to depthkeeping
Gesture selection, the present embodiment it is expected to climb latent, then c at 10 meters of deviation with 30 degree of (π/6) anglesy=π/60.
It is 0.1 second that the period is controlled in the present embodiment, executes following steps in each control loop k >=1.
Step 2: depth offset is calculated, and makees amplitude limiting processing.The mould of depth transducer output is read by AD sample port
Quasi- voltage, is changed by ratio and obtains keel depth y (k), set depth yd, underwater navigation is negative.Then, depth offset is
Wherein, Δ ymax> 0 is depth offset clipping, avoids depth error from generating excessive vertical plane motor-driven, general value
5m~20m, the present embodiment select Δ ymax=10.
Step 3: the value of observational record Δ y (k), count value n=n+1.
Step 4: if data volume n=N, N are the number of samples of design, depth offset average value is calculatedAnd varianceAnd enable n=0.IfJudge that depth is stablized,The parameter being positive,Value should be greater than the variance of depth measurement noise, carry out
The corrected Calculation of depth compensation: Δ y∞=Δ y∞+E(Δy(k))；The present embodiment selects N=100,
Step 5: horizontal rudder angle steering instruction δ is updatede(k)=cy(y(k)-yd+Δy∞)+cθθ (k), wherein δeGrasping lower rudder is
Just, cθFor the pitch angle control parameter greater than zero, value range 0.5~5 is determined according to submarine navigation device pitching movement model,
The present embodiment selects cθ=3.0, θ (k) is the pitch angle measurement value for the current control period k that attitude transducer obtains, to come back
It is positive.Clipping is carried out according to submarine navigation device hard over angle
Wherein, δmax、δminFor rudder angle maximin, the present embodiment takes δmax=0.349 (20 degree), δmin=-0.349 (-
20 degree).
Step 6: k=k+1 repeats step 2 in next control period, until hours underway arrives or navigational duty is complete
At.
In the present embodiment, as initial value α∞=0.087 (5 degree), δ∞=-0.52 (- 3 degree), in the 1st control period, y
(1)=- 5.0, depth instructs yd=-20, Δ y (1)=10, pitch angle measurement θ (1) are 0.174 (10 degree), δe(1)=2.102,
δ after clippinge(1)=0.349.
Claims (4)
1. a kind of long-range submarine navigation device depth-setting control method of no steady-state error, which is characterized in that steps are as follows:
Step 1: before starting navigation, according to the balanceable attack angles of submarine navigation device model parameter calculation and plane angle of balance nominal value α∞、
δ∞, according to control law δ∞=cyΔy∞+cθα∞, calculate depth compensationWherein, cyFor greater than zero
Deep-controlled parameter, according to depthkeeping climb latent process Gesture selection, cθFor the pitch angle control parameter greater than zero；
Step 2: after submarine navigation device starts navigation, within each control period, depth information being sampled；Calculate depth
DeviationWherein: y (k) is measured by depth transducer
The keel depth arrived, ydFor designated depth, Δ ymax> 0 is depth offset amplitude limit value；
Step 3: the value of observational record Δ y (k), count value n=n+1；
Step 4: if data volume n=N, N are the number of samples of design, calculating depth offset average valueAnd varianceAnd enable n=0；IfJudge that depth is stablized,The parameter being positive,Value should be greater than the variance of depth measurement noise, carry out
The corrected Calculation of depth compensation: Δ y∞=Δ y∞+E(Δy(k))；
Step 5: calculating horizontal rudder angle steering instruction δe(k)=cy(y(k)-yd+Δy∞)+cθθ (k), wherein δeBehaviour's lower rudder is positive, θ
(k) the pitch angle measurement value of the current control period k obtained for attitude transducer is positive with coming back；
Step 6: clipping is carried out according to submarine navigation device hard over angle:Its
In, δmin、δmaxFor rudder angle maximin, and steering instruction is sent into a steering mechanism；
Step 7:k=k+1；It repeats steps 2 through 7 in next control period, until hours underway arrives or navigational duty is completed.
2. the long-range submarine navigation device depth-setting control method without steady-state error according to claim 1, it is characterised in that:
The control method utilizes the variance of depth offset, judges whether submarine navigation device reaches depth and stablize, if reaching deep
Degree is stablized, and using the average value of depth offset, Corrected Depth compensation guarantees depth-keeping navigation of the submarine navigation device without steady-state error.
3. the long-range submarine navigation device depth-setting control method without steady-state error according to claim 1, it is characterised in that: described
cyValue range 0.01~0.05, cθValue range 0.5~5.
4. the long-range submarine navigation device depth-setting control method without steady-state error according to claim 1, it is characterised in that: described
ΔymaxValue range is 5m~20m.
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| CN113325857B (en) * | 2021-06-08 | 2022-08-05 | 西北工业大学 | Simulated bat ray underwater vehicle depth control method based on centroid and buoyancy system |
| CN114839877A (en) * | 2022-04-28 | 2022-08-02 | 哈尔滨工业大学 | Adaptive robust control method for non-torpedo-head type navigation body |
| CN116774715B (en) * | 2023-05-31 | 2024-06-07 | 新兴际华(北京)智能装备技术研究院有限公司 | Underwater vehicle attitude control method and device |
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