CN108776428B - A kind of Autonomous Underwater Vehicle four-way coupling control method - Google Patents
A kind of Autonomous Underwater Vehicle four-way coupling control method Download PDFInfo
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- 238000005259 measurement Methods 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000010025 steaming Methods 0.000 abstract description 4
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/18—Control of attitude or depth by hydrofoils
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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Abstract
The present invention proposes a kind of Autonomous Underwater Vehicle four-way coupling control method, obtains attitude transducer and depth transducer data respectively first, each data are filtered；Then vertical plane control calculating is carried out respectively, horizontal plane control calculates and control of sideward roll calculates；Rudder angle distribution is carried out later to calculate, and control moment is assigned on four rudder faces, helm angle is obtained；Then acquisition speed sensor information carries out speed control calculating after being filtered, and obtains control rotary speed instruction；Finally executing agency is sent by rudder angle and rotary speed instruction to execute.The present invention passes through control algolithm, single-blade is set to add cross rudder type AUV by periodically controlling rudder angle and revolving speed, realize AUV steady steaming, and the rudder angle allocation algorithm used in the present invention considers the influence of AUV roll bring, AUV under any roll angle is all suitable for, especially when AUV roll angle non-zero, there is better control effect than traditional static rudder distribution method.
Description
Technical field
The present invention relates to a kind of Autonomous Underwater Vehicle control methods, promote especially for propeller and add cross rudder face cloth
The revolving body Autonomous Underwater Vehicle control method of office, belongs to submarine navigation device control field.
Background technique
Unmanned submersible (Unmanned Underwater Vehicle, abbreviation for hydrospace detection and submarine observation
UUV remote control submarine navigation device (Remote Operated Vehicle, abbreviation ROV) and Autonomous Underwater Vehicle) can be divided into
Two kinds of (Autonomous Underwater Vehicle, abbreviation AUV).Compared with ROV, AUV is as a kind of underwater autonomous delivery
The tasks such as tool is navigated by water by the energy entrained by itself, and achievable subaqueous survey, article are delivered, in military ocean surveillance, sea
There is important role in the fields such as foreign environmental monitoring, oil field exploration.AUV have scope of activities and depth it is big, without umbilical cord limitation, can
Into supporting system in labyrinth body, without the complicated water surface, occupy the advantages such as deck is small, operating maintenance expense is low.
Currently, revolving body AUV rudder face mostly uses cross-shape layout or X-type to be laid out, the X-type unlike cross-shape layout
Layout needs torque to be assigned to four rudder faces after having rotated 45 °.But either any rudder face layout, all exist
The problem of vertical section AUV is not always overlapped with earth coordinates vertical plane, therefore fixed torque and rudder angle distribution method can make
It is lost at certain error and mobility, depth when turning is especially brought to fluctuate.
Summary of the invention
In order to solve the problems existing in the prior art, the present invention proposes a kind of using cross rudder face layout, simultaneously for any
The AUV four-way coupling control method being all suitable under roll angle.Respective execution mechanisms instruction, control are calculated by the control method
AUV steady steaming and effective operation.AUV control method specifically includes that AUV indulges plane motion control algolithm, AUV horizontal plane motion
Control algolithm, AUV control of sideward roll algorithm, AUV rudder angle allocation algorithm, AUV speed control algorithm.
The technical solution of the present invention is as follows:
A kind of Autonomous Underwater Vehicle four-way coupling control method, it is characterised in that: the following steps are included:
Step 1: calculate separately vertical plane control torque, horizontal plane control moment and control of sideward roll torque:
AUV indulges plane motion control and uses AUV deep-controlled, according to the depth of each control period measurement of AUV, pitch angle
And rate of pitch, mixing is carried out according to following formula, and vertical plane control torque is calculated:
Wherein depth, depthrefAnd deptherrRespectively depth, reference depth and depth error；θ and ωzRespectively
Pitch angle and rate of pitch；αfFor AUV free angle；kpd、kid、kpθAnd kdθRespectively depth scale coefficient, depth integration system
Number, pitch angle proportionality coefficient and pitch angle differential coefficient；LeTo indulge plane control torque；
The control of AUV horizontal plane motion is controlled using AUV course angle, according to the course angle of each period measurement of AUV and course
Horizontal plane control moment is calculated by mixing according to following formula in angular speed:
Wherein ψ, ψrefAnd ψerrRespectively course angle, with reference to course angle and course angle error；ωyFor course angular speed；kpψ
And kdψRespectively course angle proportionality coefficient and course angle differential coefficient；LrFor horizontal plane control moment；
AUV control of sideward roll is controlled using AUV roll angle, according to the roll angle and roll angular speed of each period measurement of AUV,
Roll angle control moment is calculated by mixing according to following formula:
WhereinAnd ωxRespectively roll angle and roll angular speed；WithRespectively roll angle proportionality coefficient and roll
Angle differential coefficient；LdFor control of sideward roll torque；
Step 2: vertical plane control torque, horizontal plane control moment and the control of sideward roll torque being calculated according to step 1,
The distribution of AUV rudder angle is carried out using following formula, by vertical plane control torque, horizontal plane control moment and control of sideward roll Torque distribution
Onto four rudder faces of AUV, the control moment needed is generated by rudder face:
Wherein, D=[du dd dl dr]TFor four, the upper and lower, left and right AUV rudder angle value；kLDFor torque rudder angle conversion coefficient；
For the modified rudder angle allocation matrix of roll angle is added；
Step 3:AUV speed control is calculated using the following equation rotary speed instruction, adjusts the revolving speed control of AUV main propulsion motor
The speed of AUV:
Wherein F is that speed and revolving speed corresponding relationship map；vrFor reference velocity；For kth time velocity error；keFor error
Integral coefficient；R is rotary speed instruction；
Step 4: sending AUV executing agency for rudder angle and rotary speed instruction that step 2 and step 3 obtain and execute.
Beneficial effect
1, the present invention is made single-blade add cross rudder type AUV by periodically controlling rudder angle and revolving speed, is realized by control algolithm
AUV steady steaming.
2, the rudder angle allocation algorithm used in the present invention considers the influence of AUV roll bring, under any roll angle
AUV be all suitable for, especially when AUV roll angle non-zero, than traditional static rudder distribution method have better control effect.
3, the present invention is equally applicable for X-type rudder face AUV, need to only be modified slightly to rudder angle allocation matrix.
4, logic of the present invention is simple, and calculation amount is small, easy to accomplish.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Figure 1A UV platform schematic diagram
Fig. 2 control method flow chart of the present invention
Fig. 3 AUV ship trajectory curve
Fig. 4 AUV navigates by water posture angular curve
Fig. 5 AUV keel depth curve
Fig. 6 AUV route speed curve
Specific embodiment
The present invention proposes that a kind of use cross rudder face is laid out, simultaneously for the AUV four-way being all suitable under any roll angle
Coupling control method.Respective execution mechanisms instruction is calculated by the control method, controls AUV steady steaming and effective operation.Tool
Body the following steps are included:
Step 1: calculate separately vertical plane control torque, horizontal plane control moment and control of sideward roll torque:
AUV indulges plane motion control and uses AUV deep-controlled, according to the depth of each control period measurement of AUV, pitch angle
And rate of pitch, mixing is carried out according to following formula, and vertical plane control torque is calculated:
Wherein depth, depthrefAnd deptherrRespectively depth, reference depth and depth error；θ and ωzRespectively
Pitch angle and rate of pitch；αfFor AUV free angle；kpd、kid、kpθAnd kdθRespectively depth scale coefficient, depth integration system
Number, pitch angle proportionality coefficient and pitch angle differential coefficient；LeTo indulge plane control torque；
The control of AUV horizontal plane motion is controlled using AUV course angle, according to the course angle of each period measurement of AUV and course
Horizontal plane control moment is calculated by mixing according to following formula in angular speed:
Wherein ψ, ψrefAnd ψerrRespectively course angle, with reference to course angle and course angle error；ωyFor course angular speed；kpψ
And kdψRespectively course angle proportionality coefficient and course angle differential coefficient；LrFor horizontal plane control moment；
AUV control of sideward roll is controlled using AUV roll angle, according to the roll angle and roll angular speed of each period measurement of AUV,
Roll angle control moment is calculated by mixing according to following formula:
WhereinAnd ωxRespectively roll angle and roll angular speed；WithRespectively roll angle proportionality coefficient and roll
Angle differential coefficient；LdFor control of sideward roll torque；
Step 2: vertical plane control torque, horizontal plane control moment and the control of sideward roll torque being calculated according to step 1,
The distribution of AUV rudder angle is carried out using following formula, by vertical plane control torque, horizontal plane control moment and control of sideward roll Torque distribution
Onto four rudder faces of AUV, the control moment needed is generated by rudder face:
Wherein, D=[du dd dl dr]TFor four, the upper and lower, left and right AUV rudder angle value；kLDFor torque rudder angle conversion coefficient；
For the modified rudder angle allocation matrix of roll angle is added；
Step 3:AUV speed control is calculated using the following equation rotary speed instruction, adjusts the revolving speed control of AUV main propulsion motor
The speed of AUV:
Wherein F is that speed and revolving speed corresponding relationship map, and can be obtained by test；vrFor reference velocity；For kth time
Velocity error；keFor error intergal coefficient；R is rotary speed instruction；
Step 4: sending AUV executing agency for rudder angle and rotary speed instruction that step 2 and step 3 obtain and execute.
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to it is used to explain the present invention, and
It is not considered as limiting the invention.
Portable autonomous submarine navigation device is as shown in Figure 1, the stern of AUV installs propeller and four rudder faces, using cross
Shape rudder face layout.Control flow is achieved by the following scheme:
It is illustrated in figure 2 AUV control method flow chart, when the new control period starts, posture is obtained respectively first and passes
Sensor and depth transducer data, each data are filtered；Then vertical plane control calculating, horizontal plane control are carried out respectively
System calculates and control of sideward roll calculates；Rudder angle distribution is carried out later to calculate, and control moment is assigned on four rudder faces, steering is obtained
Angle；Then acquisition speed sensor information carries out speed control calculating after being filtered, and obtains control rotary speed instruction；Most
It sends executing agency for rudder angle and rotary speed instruction afterwards to execute, this control end cycle.
During the autonomous navigation of entire AUV, above-mentioned control flow is constantly repeated within each period.Attached drawing 3,4,
5,6 be respectively real navigation of AUV in ship trajectory curve, AUV navigation posture angular curve, AUV keel depth curve and
AUV route speed curve.The mission bit stream of this navigation are as follows:
Way point: 1. 111 ° 36 ' 0 of east longitudes " 32 ° 46 ' 300 of north latitude "
2. 111 ° 33 ' 0 of east longitude " 32 ° 46 ' 300 of north latitude "
3. 111 ° 33 ' 0 of east longitude " 32 ° 43 ' 300 of north latitude "
4. 111 ° 34 ' 12.9 of east longitude " 32 ° 45 ' 08.3 of north latitude "
Keel depth: 5m；Route speed: 2m/s
From navigation curve it can be concluded that aircraft flight is stable and navigation curve follows default navigational parameter.Therefore by real
It verifies this control method to stablize effectively, course, depth and the speed of control AUV that can be stable.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (1)
1. a kind of Autonomous Underwater Vehicle four-way coupling control method, it is characterised in that: the following steps are included:
Step 1: calculate separately vertical plane control torque, horizontal plane control moment and control of sideward roll torque:
AUV indulges plane motion control and uses AUV deep-controlled, according to the depth of each control period measurement of AUV, pitch angle and bows
Elevation angle speed carries out mixing according to following formula and vertical plane control torque is calculated:
Wherein depth, depthrefAnd deptherrRespectively depth, reference depth and depth error；θ and ωzRespectively pitch angle
And rate of pitch；αfFor AUV free angle；kpd、kid、kpθAnd kdθRespectively depth scale coefficient, depth integral coefficient, pitching
Angle proportionality coefficient and pitch angle differential coefficient；LeTo indulge plane control torque；
The control of AUV horizontal plane motion is controlled using AUV course angle, according to the course angle of each period measurement of AUV and course angle speed
Horizontal plane control moment is calculated by mixing according to following formula in degree:
Wherein ψ, ψrefAnd ψerrRespectively course angle, with reference to course angle and course angle error；ωyFor course angular speed；kpψAnd kdψ
Respectively course angle proportionality coefficient and course angle differential coefficient；LrFor horizontal plane control moment；
AUV control of sideward roll is controlled using AUV roll angle, according to the roll angle and roll angular speed of each period measurement of AUV, according to
Roll angle control moment is calculated by mixing in following formula:
WhereinAnd ωxRespectively roll angle and roll angular speed；WithRespectively roll angle proportionality coefficient and roll angle are micro-
Divide coefficient；LdFor control of sideward roll torque；
Step 2: vertical plane control torque, horizontal plane control moment and the control of sideward roll torque being calculated according to step 1 use
Following formula carries out the distribution of AUV rudder angle, and vertical plane control torque, horizontal plane control moment and control of sideward roll Torque distribution are arrived
On four rudder faces of AUV, the control moment needed is generated by rudder face:
Wherein AUV rudder face is laid out using cross rudder face, D=[du dd dl dr]TFor four, the upper and lower, left and right AUV rudder angle value；
kLDFor torque rudder angle conversion coefficient；
For the modified rudder angle allocation matrix of roll angle is added；
Step 3:AUV speed control is calculated using the following equation rotary speed instruction, and the revolving speed for adjusting AUV main propulsion motor controls AUV
Speed:
Wherein F is that speed and revolving speed corresponding relationship map；vrFor reference velocity；For kth time velocity error；keFor error intergal
Coefficient；R is rotary speed instruction；
Step 4: sending AUV executing agency for rudder angle and rotary speed instruction that step 2 and step 3 obtain and execute.
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| CN110209181B (en) * | 2019-05-06 | 2021-12-24 | 西北工业大学深圳研究院 | Autonomous vertical landing ship board control method of underwater cleaning robot based on range finder |
| CN112591060B (en) * | 2020-12-23 | 2023-07-14 | 中国船舶重工集团有限公司第七一0研究所 | Control method for X-shaped rudder of autonomous underwater vehicle |
| 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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| US5349916A (en) * | 1993-09-13 | 1994-09-27 | The United States Of America As Represented By The Secretary Of The Navy | System for effecting underwater coupling of optical fiber cables characterized by a novel pod-to-vehicle interlock |
| JP4585367B2 (en) * | 2005-04-25 | 2010-11-24 | 三菱重工業株式会社 | Parent-child autonomous submersible system and connection method of autonomous submersible |
| CN102298326B (en) * | 2011-06-30 | 2013-05-08 | 哈尔滨工程大学 | Underactuated autonomous underwater vehicle (AUV) adaptive trajectory tracking control device and control method |
| KR20140139152A (en) * | 2011-10-26 | 2014-12-05 | 대우조선해양 주식회사 | Autonomous underwater vehicle and method for operating control of the same |
| US8600592B2 (en) * | 2012-03-02 | 2013-12-03 | Her Majesty The Queen In Right Of Canada As Represented By The Minister Of National Defence | Homing system and method for an autonomous underwater vehicle |
| CN103064288A (en) * | 2012-11-23 | 2013-04-24 | 中国科学院沈阳自动化研究所 | Low velocity autonomous underwater vehicle (AUV) sailing control method based on contra-rotating propeller adding fin and rudder |
| CN103708012B (en) * | 2013-12-11 | 2016-04-13 | 浙江大学 | Deep-sea AUV docking platform is towards variotrol |
| CN105549611B (en) * | 2014-10-30 | 2018-04-17 | 中国科学院沈阳自动化研究所 | The flight path precise tracking method of the marine environment self-identifying of autonomous underwater robot |
| CN104793625B (en) * | 2015-04-17 | 2017-05-03 | 西北工业大学 | Dynamic anti-saturation pitch angle control method for autonomous underwater vehicle |
| CN106681352B (en) * | 2015-11-06 | 2019-01-25 | 中国科学院沈阳自动化研究所 | A kind of underwater robot control method of rotatable rudder propeller |
| CN107117276B (en) * | 2017-04-18 | 2018-11-23 | 西北工业大学 | A kind of propulsion of portable autonomous submarine navigation device and manipulation integrated control unit |
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Effective date of registration: 20220228 Address after: 710076 No. 209, Keji 4th Road, high tech Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an Meitai Navigation Technology Co.,Ltd. Address before: 710072 No. 127 Youyi West Road, Shaanxi, Xi'an Patentee before: Northwestern Polytechnical University |
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