CN108008626A - A kind of underwater robot carries out actively subtracting the fuzzy PID control method shaken when approximately level is by sea wave disturbance using hydroplane - Google Patents
A kind of underwater robot carries out actively subtracting the fuzzy PID control method shaken when approximately level is by sea wave disturbance using hydroplane Download PDFInfo
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Abstract
The present invention is provided a kind of underwater robot and is carried out actively subtracting the fuzzy PID control method shaken using hydroplane when approximately level is by sea wave disturbance, initially sets up the rolling motion model of underwater robot.Hydroplane is carried based on underwater robot, establishes lift model during hydroplane longitudinal oscillation.Wave is obtained to the disturbance torque computational methods of robot and is emulated.Using the rolling motion model and wave of above-mentioned underwater robot to the computational methods of the disturbance torque of robot, build it is disturbed after roll damping system of the underwater robot in approximately level model, pass through the roll angle of measuring cell detection hydroplane under wave interference effect, analyze rolling feature of the approximately level robot in different depth, establish corresponding fuzzy rule, three parameters of PID controller, obtain the roll angle of hydroplane, the righting moment for producing and reducing underwater robot rolling so that the servomechanism of hydroplane is reacted, achieve the purpose that to subtract and shake.
Description
Technical field
The present invention relates to a kind of method for actively reducing underwater robot rolling motion when approximately level works, more particularly to
A kind of underwater robot carries out actively subtracting the fuzzy PID control method shaken when approximately level is by sea wave disturbance using hydroplane.
Background technology
Underwater robot is during approximately level navigates by water and performs task, due to being disturbed be subject to wave, can not can keep away
Movement is swayed in the generation exempted from, and wherein rolling motion is one of movement the most violent.Reduce underwater robot in approximately level
Rolling motion, can not only ensure its security, and can preferably complete underwater operation task.
Device by four hydroplanes of underwater robot as control rolling motion, not only without the extra installation of increase
Cost, but also preferable anti-rolling effect can be obtained.
The content of the invention
The purpose of the invention is to provide a kind of underwater robot when approximately level is by sea wave disturbance using hydroplane into
Row actively subtracts the fuzzy PID control method shaken, and one kind improves when to underwater robot in approximately level different depth, based on carrying
Hydroplane, realization independently subtract the fuzzy PID control method shaken.
The object of the present invention is achieved like this：Step is as follows：
Step 1：Establish random seaway model；
Step 2：The hydrodynamic force coefficient of underwater robot is obtained according to the Wave Model of foundation；According to underwater after simplification
The rolling motion model of the six degree of freedom establishing equation underwater robot of robot, and obtain the rolling motion phase of underwater robot
The roll angle answered；
Step 3：Using the roll angle of obtained underwater robot, and according to underwater robot approximately level difference
The rolling feature of depth, establishes corresponding fuzzy rule, three parameters of PID controller, and the control for obtaining hydroplane is defeated
Go out roll angle knots modification；
Step 4：The lift model of the hydroplane of underwater robot is established, obtaining hydroplane using roll angle knots modification is
The lift that underwater robot provides, feedback effect is in the servomechanism of hydroplane；
Step 5：Simulation model is built in the SIMULINK of MATLAB, to underwater robot in approximately level different depth
Under emulated, verify anti-rolling effect.
Present invention additionally comprises some such architectural features：
1. the random seaway model in step 1 is specifically：
Random seaway model S on the water surface is established based on the ITTC two-parameter waves providedζ(ω) is：
In formula：h1/3It is the ariyoshi wave height of wave, T is eigenperiod,
The size of underwater wave amplitude ζ (t) is that exponentially function rule declines with the increase of the depth of water, is met：
In formula：Z is the depth of water, ζaiFor wave amplitude, ζaiFor the wave amplitude of ith harmonic wave, ωiFor the angular frequency of ith harmonic wave, εiFor
The initial phase of ith harmonic wave, δ are 2 π/λ, and wherein λ represents wavelength.
2. step 3 is specially：
Input variable using the departure e of the system and derivative ec of departure as fuzzy controller, error signal e and mistake
The actual domain of poor change rate ec is [- 0.2,0.2], [- 0.4,0.4]；Output quantity Δ Kp, Δ KI, Δ KDDomain be [- 3,
3]；Need for actual domain to be converted into the linguistic variable value represented in the form of natural language to implement fuzzy control, using three
This membership function of angular function by the real number in domain range specific linguistic variable it is worthwhile in, the value of linguistic variable value
Take { NB, NM, NS, ZO, PS, PM, PB } seven, { NB, NM, NS, ZO, PS, PM, PB } represent negative big, negative respectively in, it is negative it is small, zero,
It is honest, center, it is just small；In fuzzy control, they are used to indicate that degree of membership relation；Using fuzzy control rule, pass through mould
Paste reasoning obtains the linguistic variable value of output variable, using centroid as sharpening decision-making, finally obtains and passes through Fuzzy Control
Three parameters of the PID controller being made.
3. the hydroplane lift model in step 4 is specifically：
In formula：The additional rotation inertia of J --- zero power test hydroplane；The half of α --- chord length；The thickness of b --- hydroplane
Degree；C --- the distance at the midpoint of horizontal rudderpost to chord length；D --- additional tension stress acts on point on hydroplane to hydroplane
The distance of axis；E --- length；K --- proportionality coefficient；
When hydroplane and horizontal direction angle are α (t), the size for the lift that in the vertical direction produces can represent
For：
Lzero(t)=F (t) cos α (t).
4. the simulation model in step 5 meets：It is 45 °, submerged depth 0.5m, 1.5m, 2.5m in wave encounter angle, ariyoshi
It is being emulated under the sea situation that wave height is 1m as a result, simulation time is 300s.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is by selecting suitable coordinate system, according to simplification
The six degree of freedom equation of underwater robot afterwards, establishes the rolling motion model of underwater robot, according to different sea wave disturbances, base
Hydroplane is carried in underwater robot, establishes the lift model of hydroplane, provides meter of the wave to the disturbance torque of robot
Calculation method.Then the roll angle of the hydroplane under pendulum wave interference is detected by measuring cell, establishes corresponding fuzzy rule
Then, three parameters of PID controller, so as to produce the rolling moment for reducing underwater robot, achieve the purpose that to subtract and shake.This
The Fuzzy PID used is invented, which can both play the flexibility of fuzzy control and the advantage of adaptability,
But also there is the high-precision of PID control, it is very suitable for complexity and the variability of under-water wave interference.Mainly for
Using carry four hydroplanes of underwater robot subtract and shake not only without extra installation cost is increased, can also obtain
Preferably anti-rolling effect.The process navigated by water under water for underwater robot and perform task adds very big security.
Brief description of the drawings
Fig. 1 is the underwater robot model of the present invention；
Fig. 2 is the impulse response data matched curve of the present invention；
Fig. 3 is the total model framework chart of underwater robot roll control system of the present invention；
Fig. 4 is the control method flow chart of the present invention；
Fig. 5 (a)-Fig. 5 (f) is the simulation result figure of the present invention, wherein：Fig. 5 (a) is that 1.0 45 ° of 0.5m do not subtract and shake song
Line；Fig. 5 (b) is that 1.0 45 ° of 0.5m fuzzies subtract and shake curve；Fig. 5 (c) is that 1.0 45 ° of 1.5m do not subtract and shake curve；Fig. 5 (d) is
1.0 45 ° of 1.5m fuzzies, which subtract, shakes curve；Fig. 5 (e) is that 1.0 45 ° of 2.5m do not subtract and shake curve；Fig. 5 (f) is 1.0 45 ° of 2.5m
PID, which subtracts, shakes curve；
Fig. 6 is not subtract to shake and subtract to shake rear effect comparative effectiveness table.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1 to Fig. 5 (f), step of the invention is as follows：
Step 1：According to the simulation theory of the long crested waves random seaway provided in existing document basis, random seaway is established
Model.
Step 2：Using Wave Model immediately, the hydrodynamic force coefficient of underwater robot is obtained by consulting pertinent literature.Root
According to the rolling motion model of the six degree of freedom establishing equation underwater robot of the underwater robot after simplification.Obtain underwater robot
The corresponding roll angle of rolling motion.
Step 3：Using the roll angle of underwater robot obtained above, according to underwater robot in different depth
Rolling feature, establishes corresponding fuzzy rule, three parameters of PID controller, obtain the control output rolling of hydroplane
Angulation change amount.
Step 4：The lift model of the hydroplane of underwater robot is established, hydroplane is obtained using the knots modification of roll angle
The lift provided for underwater robot, feedback effect is in the servomechanism of hydroplane.
Step 5：Simulation model is built in the SIMULINK of MATLAB, to underwater robot in approximately level different depth
Under emulated, verify anti-rolling effect.
Wave Model is specially immediately described in step 1：
The two-parameter ocean wave spectrum that the foundation of model is provided based on ITTC, it is as follows：
In formulah1/3It is the ariyoshi wave height of wave, T is eigenperiod.
Wave equation above describes the situation on the water surface, by wave equation above, by hydromechanical
Theory understands that the size of wave amplitude as the increase of the depth of water is that exponentially function rule declines, is shown below：
Z represents the depth of water in formula, and λ represents wavelength, ζaiFor the wave amplitude of ith harmonic wave, ωiFor the angular frequency of ith harmonic wave, εi
For the initial phase of ith harmonic wave, δ is 2 π/λ, and wherein λ represents wavelength.
Rolling motion model on hydroplane described in step 2 is specially：
(1) data of literatures is consulted, obtains the hydrodynamic force coefficient of underwater robot；
(2) according to the underwater robot six degree of freedom equation after simplification, using MATLAB platforms cftool tool boxes into
Line function is fitted, and obtains the transmission function of the rolling motion model after depression of order
The fuzzy rule of fuzzy described in step 3 designs：
Become in this Fuzzy control system using the departure e of the system and derivative ec of departure as the input of fuzzy controller
Amount, the actual domain of error signal e and error rate ec are [- 0.2,0.2], [- 0.4,0.4].Output quantity Δ Kp, Δ KI, Δ
KDDomain be [- 3,3].Need actual domain being converted into the language represented in the form of natural language to implement fuzzy control
Say variate-value, this control system ranges the real number in domain using triangular function (trimf) this membership function specific
Linguistic variable it is worthwhile in.The value of linguistic variable value takes { NB, NM, NS, ZO, PS, PM, PB } seven.Represent negative big respectively
(negative big), it is negative in (negative middle), bear small (negative small), be zero (Zero), honest
(positive big), hit exactly, be just small.In fuzzy control, they are used to indicate that degree of membership relation.Then known using expert
Know the fuzzy control rule summed up with actual operating experience, the linguistic variable value of output variable obtained by fuzzy reasoning,
Using centroid (gravity model appoach) as sharpening decision-making, three of the PID controller obtained by fuzzy control are finally obtained
Parameter.
The lift model of hydroplane described in step 4 is specially：
In formula：The additional rotation inertia of J-zero power test hydroplane；The half of α-chord length；The thickness of b-hydroplane；c—
Horizontal rudderpost to the midpoint of chord length distance；D-additional tension stress acts on the point on hydroplane to the distance of horizontal rudderpost；
E-length；K-proportionality coefficient.
When hydroplane and horizontal direction angle are α (t), the size for the lift that in the vertical direction produces can represent
For：
Lzero(t)=F (t) cos α (t)
Simulation process described in step 5 is：
Building simulation model in the SIMULINK of MATLAB is specially：It is 45 ° in wave encounter angle, submerged depth 0.5m,
1.5m, 2.5m, emulated under the sea situation that ariyoshi wave height is 1m as a result, simulation time is 300s.And shake front and rear data to subtracting
Contrasted, show anti-rolling effect.
The specific embodiment of the present invention is given below：
The present invention is using II autonomous type underwater robots of NPS AUV as research object Fig. 1, to its rolling in sea wave disturbance
Research has been carried out in movement.Non-linear and strong coupling increase of the six degrees of freedom model of underwater robot sets up rolling model
Difficulty, and when underwater robot navigates by water under water can be influenced be subject to various perturbed forces and torque, they have randomness
And scrambling.Because of the presence of above-mentioned difficult point, rolling emulation of the present invention to underwater robot on different depth is studied
So as to simulate the movement during raising and lowering.
Due to different waves to depth under conditions of the PID controller of preset parameter be difficult to meet all sea situations.For
The more preferable anti-rolling effect of pursuit, it would be desirable to which the intelligent control system beyond PID controller carries out parameter tuning to it.Mould
Paste PID controller converged regulatory PID control accuracy and fuzzy control be not required research object accurate model the advantages of,
It is highly suitable for the system as underwater robot rolling motion.
The present invention builds model finally by MATLAB softwares and carries out simulation study to the rolling motion of underwater robot.For
Facilitate the actual control operation in engineering, the rolling model first to underwater robot has carried out depression of order processing, gives at the same time
When mode input wave torque before depression of order and after depression of order is disturbed, its error meets depression of order requirement, it was demonstrated that drop can be replaced after depression of order
Studied before rank.Then system model is gone out respectively under the control of fuzzy controller by SIMULINK environmental structures again
Emulated.
(1) foundation of random seaway model
The present invention is basic with reference to the simulation theory of long crested waves random seaway, establishes the model of random seaway, this model has
Higher simulation accuracy.The expression formula of the mathematics of long crested waves wave is
In formula：ζaiThe wave amplitude of-ith harmonic wave；kiThe wave number of-ith harmonic wave；ωiThe angular frequency of-ith harmonic wave；
εiThe initial phase of-ith harmonic wave.
In view of wave fixed on sea, in order to without loss of generality, be located at ξ=0 and η=0, it can be deduced that fixed point length
Spike wave equation is
Wave amplitude ζ is understood according to wave is theoreticalaiWith frequency spectrum Sζ(ωi) between relation it is as follows：
When Δ ω level off to zero when, the ripple in the range of Δ ω is just gone into the harmonic wave with definite frequency, therefore formula (2) can be written as
Worker in terms of many oceans have studied the largely statistics on random seaway, then be used according to data
Suitable function expresses the general density of wave.Spectrum density has many kinds of function expressions, introduces the two-parameter of ITTC offers herein
Ocean wave spectrum, it is as follows：
In formulah1/3It is the ariyoshi wave height of wave, T is eigenperiod.
Wave equation above describes the situation on the water surface, but also has the influence of wave under water.By fluid
The theory of mechanics understands that the size of wave amplitude as the increase of the depth of water is that exponentially function rule declines, is shown below：
Z represents the depth of water in formula.
Meet with frequencies omegae=2 π/Te(TeFor period of encounter) represent the wave frequencies that robot is subjected to, illustrate machine
People is how to suffer from wave, therefore it is critically important in the movement for research robot in wave.Meet with frequency
It can be showed by wave angular frequency, such as following formula：
μ in formulaeFor wave encounter angle, it refers to the angle between wave direction of transfer and robot navigation direction.
The calculating of wave force can utilize Morison formula, as follows：
Wherein, ρ is fluid density, and A is project objects area, and B is the volume of object, and u is fluid velocity,For fluid speed
Derivative, that is, acceleration of degree, CdFor resistance coefficient, CmFor inertia coeffeicent.Fluid velocity u can be by wave speed and robot motion's speed
The difference of degree represents, and the speed of wave can then obtain by formula (5) derivation.Therefore the calculation formula of swaying power and heave power can be such as
Lower expression：
It can so show that the computational methods of rolling disturbance torque are as follows：
(2) transmission function of the rolling motion of underwater robot：
Due to the present invention study be underwater robot rolling motion, have larger coupling except heel equation and to rolling
Longitudinal direction and yaw equation outside, other equations, which are contemplated that, to be disregarded, and can be omitted in above three equation except on heel, vertical
Parameter beyond to, yaw is so as to achieving the purpose that simplified six degree of freedom equation.The rolling motion model so obtained is easily counted
Calculate and easily controllable.Formula after simplification is as follows：
Formula (11), (12), sum of the power that the item on the right side of (13) is subject to for underwater robot and torque, there is extraneous interference
Power, additional tension stress, hydrodynamic force etc., wherein：
M be underwater robot quality (kg), zGFor the center-of-mass coordinate of robot, L is the length (m) of robot, IxFor around
The rotating rotary inertia (Nm of x-axis2), IyFor around the rotating rotary inertia (Nm of y-axis2), IzTo be rotating around z-axis
Rotary inertia (Nm2), remaining amount is then hydrodynamic parameter.
Matrix form is turned to, can obtain：
Wherein:
After further simplifying：
Laplace transformation is carried out after the processing for linearizing it to both sides again to obtain：
Wherein：
Therefore obtain：
φ (s)=f22Mwave (17)
Then f22For the rolling mathematical model of underwater robot.
After each parameter of hydrodynamic force coefficient and robot is brought into, it can be calculated:
By above formula as it can be seen that the transmission function order of the rolling motion of underwater robot is higher, it is unfavorable for controlling.This is just needed
Carried out depression of order processing.Cftool tool boxes are opened in Matlab interfaces, by shock response data inputting tool box, are intended
Conjunction functional form is f (x)=ae-bxsincx.Matched curve is as shown in Figure 2.Obtain a=0.0194b=0.3145c=0.119,
And error of fitting precision reaches 10-8Rank, meets the requirement of precision during to depression of order.
Obtained function f (x)=0.0194e after being fitted-0.3145xSin0.119x carries out Laplace transform, can obtain
The transmission function of rolling motion model after depression of order is as follows：
(3) foundation of the total model of system and its design of fuzzy controller
Fig. 3 is underwater robot sway stabilisation system scantling plan.Underwater robot rolling motion model therein, hydroplane liter
Power model and wave interference are above having been given, other control elements are given below：
1. measuring cell
We are measuring cell frequently with rate-of-turn gyroscope in hydroplane control system, its transmission function is：
2. amplifier
The transmission function of amplifier taken in the design process of the present invention is：
Gb(s)=KQ (20)
Wherein KQIt is adjustable.
3. controller
Fuzzy control rule is the core of whole fuzzy controller, it determines the control effect of fuzzy controller
Fruit.The fuzzy control rule summed up by expertise and actual operating experience is used in the present invention.
The present invention uses PID controller, its transmission function is
K is obtained come three coefficients of Tuning PID Controller by fuzzy controlp=9, KI=7, KD=16
4. servomechanism
Hydroplane is rotated using servomotor.Its transmission function is as follows：
Under wave exogenous disturbances, underwater robot does rolling motion, after measuring cell detects its angular velocity in roll, leads to
Amplifier is crossed to be input in controller.The controlled quentity controlled variable exported after the computing by controller is applied to hydroplane servomechanism,
Servomechanism just makes it produce righting moment according to controlled quentity controlled variable to rotate hydroplane, and righting moment can weaken the interference of wave torque,
Shaken so as to achieve the purpose that underwater robot subtracts.
(4) foundation of hydroplane lift model
Combine form drag F1(t), vortex action power F2(t) and additional tension stress F3(t), the hydrodynamic force of hydroplane can
To be described as following formula
In formula：The additional rotation inertia of J-zero power test hydroplane；The half of α-chord length；The thickness of b-hydroplane；c—
Horizontal rudderpost to the midpoint of chord length distance；D-additional tension stress acts on the point on hydroplane to the distance of horizontal rudderpost；
E-length；K-proportionality coefficient.
When hydroplane and horizontal direction angle are α (t), the size for the lift that in the vertical direction produces can represent
For：
Lzero(t)=F (t) cosα(t)
(5) underwater robot rolling emulates
Analysis of the summary to each section of total model of underwater robot rolling motion system, in SIMULINK rings
The model and the total model of system of fuzzy controller are built in border respectively.Below with regard to carrying out emulation during open loop to system respectively
With the emulation of the system in the case where there is fuzzy controller control.In order to illustrate the robot rolling fortune under different depth
It is dynamic, take different depth to emulate herein, as a result referring to the drawings 5 (a) to Fig. 5 (f).
With reference to the effect table of Fig. 6, open-and-shut can be found out by the contrast of data, the controlling of fuzzy controller
Can be very good, when wave encounter angle is 45 °, when depth gradually increases, no matter fuzzy controller can be kept under which kind of sea situation
Stable anti-rolling efficiency.The rolling of underwater robot is accomplished significantly to subtract.Therefore underwater can be drawn roughly
People can obtain the conclusion of stable anti-rolling efficiency during depth increase is dive by the control system of controller.
To sum up, the invention belongs to actively reduce the method for underwater robot rolling motion when approximately level works, the present invention
Purpose be to provide it is a kind of improve when to underwater robot in approximately level different depth, based on the hydroplane carried, realize
Independently subtract the fuzzy PID control method shaken.Suitable underwater robot kinetic coordinate system is selected first, according to underwater after simplification
The six degree of freedom equation of robot, establishes the rolling motion model of underwater robot.The present invention is with the imitative of long crested waves random seaway
True theoretical foundation, establishes the model of random seaway.According to different sea wave disturbances, the horizontal stroke of the robot in different depth is studied
Shake movement.Hydroplane is carried based on underwater robot, establishes lift model during hydroplane longitudinal oscillation.Wave is obtained to machine
The disturbance torque computational methods of people are simultaneously emulated.Using the rolling motion model and wave of above-mentioned underwater robot to machine
The computational methods of the disturbance torque of people, build it is disturbed after roll damping system of the underwater robot in approximately level model, lead to
Cross the roll angle of measuring cell detection hydroplane under wave interference effect, horizontal stroke of the analysis approximately level robot in different depth
Feature is shaken, establishes corresponding fuzzy rule, three parameters of PID controller, obtain the roll angle of hydroplane, so that water
The servomechanism of flat rudder, which is reacted, produces the righting moment of reduction underwater robot rolling, achievees the purpose that to subtract and shakes.
Simulation model is built in the SIMULINK of MATLAB, underwater robot is emulated under approximately level different depth, verification subtracts
Shake effect.
Claims (5)
1. a kind of underwater robot carries out actively subtracting the fuzzy-adaptation PID control side shaken when approximately level is by sea wave disturbance using hydroplane
Method, it is characterised in that：Step is as follows：
Step 1：Establish random seaway model；
Step 2：The hydrodynamic force coefficient of underwater robot is obtained according to the Wave Model of foundation；According to the underwater after simplification
The rolling motion model of the six degree of freedom establishing equation underwater robot of people, and the rolling motion for obtaining underwater robot is corresponding
Roll angle；
Step 3：Using the roll angle of obtained underwater robot, and according to underwater robot approximately level different depth
Rolling feature, establish corresponding fuzzy rule, three parameters of PID controller, the control output for obtaining hydroplane is horizontal
Cradle angle degree knots modification；
Step 4：The lift model of the hydroplane of underwater robot is established, it is underwater to obtain hydroplane using roll angle knots modification
The lift that robot provides, feedback effect is in the servomechanism of hydroplane；
Step 5：Build simulation model in the SIMULINK of MATLAB, to underwater robot under approximately level different depth into
Row emulation, verifies anti-rolling effect.
2. a kind of underwater robot according to claim 1 is carried out actively when approximately level is by sea wave disturbance using hydroplane
Subtract the fuzzy PID control method shaken, it is characterised in that：Random seaway model in step 1 is specifically：
Random seaway model S on the water surface is established based on the ITTC two-parameter waves providedζ(ω) is：
<mrow>
<msub>
<mi>S</mi>
<mi>&zeta;</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>&omega;</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mi>A</mi>
<msup>
<mi>&omega;</mi>
<mn>5</mn>
</msup>
</mfrac>
<mi>exp</mi>
<mrow>
<mo>(</mo>
<mo>-</mo>
<mfrac>
<mi>B</mi>
<msup>
<mi>&omega;</mi>
<mn>4</mn>
</msup>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
In formula：h13It is the ariyoshi wave height of wave, T is eigenperiod,
The size of underwater wave amplitude ζ (t) is that exponentially function rule declines with the increase of the depth of water, is met：
<mrow>
<mi>&zeta;</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>&infin;</mi>
</munderover>
<msub>
<mi>&zeta;</mi>
<mrow>
<mi>a</mi>
<mi>i</mi>
</mrow>
</msub>
<msup>
<mi>e</mi>
<mrow>
<mo>-</mo>
<mi>&delta;</mi>
<mi>z</mi>
</mrow>
</msup>
<mi>cos</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&omega;</mi>
<mi>i</mi>
</msub>
<mi>t</mi>
<mo>+</mo>
<msub>
<mi>&epsiv;</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
In formula：Z is the depth of water, ζaiFor wave amplitude, ζaiFor the wave amplitude of ith harmonic wave, ωiFor the angular frequency of ith harmonic wave, εiFor i-th
The initial phase of subharmonic, δ are 2 π/λ, and wherein λ represents wavelength.
3. a kind of underwater robot according to claim 2 is carried out actively when approximately level is by sea wave disturbance using hydroplane
Subtract the fuzzy PID control method shaken, it is characterised in that：Step 3 is specially：
Input variable using the departure e of the system and derivative ec of departure as fuzzy controller, error signal e and error become
The actual domain of rate ec is [- 0.2,0.2], [- 0.4,0.4]；Output quantity Δ Kp, Δ KI, Δ KDDomain be [- 3,3]；
Need for actual domain to be converted into the linguistic variable value represented in the form of natural language to implement fuzzy control, using triangle
This membership function of function by the real number in domain range specific linguistic variable it is worthwhile in, the value of linguistic variable value takes
{ NB, NM, NS, ZO, PS, PM, PB } seven, { NB, NM, NS, ZO, PS, PM, PB } represent negative big, negative respectively in, it is negative it is small, zero, just
Greatly, hit exactly, is just small；In fuzzy control, they are used to indicate that degree of membership relation；Using fuzzy control rule, by fuzzy
Reasoning obtains the linguistic variable value of output variable, using centroid as sharpening decision-making, finally obtains and passes through fuzzy control
Three parameters of obtained PID controller.
4. a kind of underwater robot according to claim 3 is carried out actively when approximately level is by sea wave disturbance using hydroplane
Subtract the fuzzy PID control method shaken, it is characterised in that：Hydroplane lift model in step 4 is specifically：
<mrow>
<mi>F</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>F</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>F</mi>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>F</mi>
<mn>3</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mi>e</mi>
<mi>&rho;</mi>
</mrow>
<mn>3</mn>
</mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>C</mi>
<mi>D</mi>
</msub>
<mo>+</mo>
<mn>3</mn>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<mn>3</mn>
<msup>
<mi>&alpha;</mi>
<mn>2</mn>
</msup>
<mi>c</mi>
<mo>+</mo>
<mn>3</mn>
<mi>k</mi>
<mo>)</mo>
</mrow>
<msup>
<mi>&omega;</mi>
<mn>2</mn>
</msup>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mfrac>
<mi>J</mi>
<mi>d</mi>
</mfrac>
<mover>
<mi>&omega;</mi>
<mo>&CenterDot;</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>J</mi>
<mo>=</mo>
<msup>
<mi>&pi;&rho;&alpha;</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<mfrac>
<mi>&pi;</mi>
<mn>8</mn>
</mfrac>
<mi>&rho;</mi>
<mrow>
<mo>(</mo>
<msup>
<mi>&alpha;</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<msup>
<mi>b</mi>
<mn>2</mn>
</msup>
<mo>)</mo>
</mrow>
</mrow>
In formula：The additional rotation inertia of J --- zero power test hydroplane；The half of α --- chord length；The thickness of b --- hydroplane；
C --- the distance at the midpoint of horizontal rudderpost to chord length；D --- additional tension stress acts on point on hydroplane to horizontal rudderpost
Distance；E --- length；K --- proportionality coefficient；
When hydroplane and horizontal direction angle are α (t), the size for the lift that in the vertical direction produces can be expressed as：
Lzero(t)=F (t) cos α (t).
5. a kind of underwater robot according to claim 4 is carried out actively when approximately level is by sea wave disturbance using hydroplane
Subtract the fuzzy PID control method shaken, it is characterised in that：Simulation model in step 5 meets：It it is 45 ° in wave encounter angle, dive is deep
Spend for 0.5m, 1.5m, 2.5m, emulated under the sea situation that ariyoshi wave height is 1m as a result, simulation time is 300s.
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| CN110456809A (en) * | 2019-07-30 | 2019-11-15 | 哈尔滨工程大学 | A kind of structure changes integrated controller design method reducing AUV roll and pitch |
| CN110450929A (en) * | 2019-07-30 | 2019-11-15 | 哈尔滨工程大学 | A method of reducing AUV roll and pitch using included hydroplane |
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| CN108639286A (en) * | 2018-05-12 | 2018-10-12 | 浙江大学 | A kind of control method of the spherical underwater robot of quadrotor |
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| CN108820155A (en) * | 2018-06-08 | 2018-11-16 | 哈尔滨工程大学 | The ship gyro based on Fuzzy Immune Controller, which subtracts, under a kind of low speed of a ship or plane shakes control method |
| CN110286687A (en) * | 2019-06-03 | 2019-09-27 | 哈尔滨工程大学 | A kind of wave disturbs assessment device and method to underwater robot |
| CN110456809A (en) * | 2019-07-30 | 2019-11-15 | 哈尔滨工程大学 | A kind of structure changes integrated controller design method reducing AUV roll and pitch |
| CN110450929A (en) * | 2019-07-30 | 2019-11-15 | 哈尔滨工程大学 | A method of reducing AUV roll and pitch using included hydroplane |
| CN110456809B (en) * | 2019-07-30 | 2022-07-15 | 哈尔滨工程大学 | Design method of variable-structure integrated controller for reducing AUV (autonomous Underwater vehicle) rolling and pitching |
| CN111221244A (en) * | 2020-01-15 | 2020-06-02 | 哈尔滨工程大学 | Ship rudder rolling reduction control method |
| CN112947502A (en) * | 2021-03-04 | 2021-06-11 | 中国科学院自动化研究所 | Flexible bionic web underwater motion control method and system |
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Application publication date: 20180508 |