CN115469675A - AUV robust accurate control method for X-type rudder - Google Patents
AUV robust accurate control method for X-type rudder Download PDFInfo
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Abstract
The invention discloses an AUV robust accurate control method for an X-type rudder, which comprises the following steps: acquiring the position, posture, linear speed and angular speed of an AUV hull, and establishing a kinematics model, a dynamics model and an X distribution model to form an X rudder AUV mathematical model; respectively acquiring the current AUV position and route information of a horizontal plane and a vertical plane, establishing a horizontal plane kinematics controller, and designing a vertical plane kinematics control law; designing a non-linear interference observer to estimate and compensate unmodeled dynamics of an X-rudder AUV mathematical model and a vertical surface kinematics control law, and generating an AUV high-order sliding mode controller; and performing X-rudder control distribution on the control output resolved by the AUV high-order sliding mode controller based on the damping matrix. The control method can effectively reduce the influence of model uncertainty and external interference on AUV control.
Description
Technical Field
The invention relates to the technical field of AUV control, in particular to an AUV robust accurate control method for an X-type rudder.
Background
An intelligent Underwater robot (AUV) has attracted wide attention in the fields of scientific research, civil use and military use by virtue of its unmanned Autonomous working characteristics, and the AUV control technology is a core technology and key capability for realizing its Autonomous navigation operation. The AUV provided with the X-shaped stern rudder is superior to the conventional cross rudder AUV in the aspects of safety, hydrodynamic performance and the like. Therefore, the X-rudder AUV control receives much attention and has wide demand.
AUV faces the following problems in current research in navigation:
1. most AUVs are a type of under-actuated motion carrier that requires a kinematic controller to generate the desired heading and trim angles to guide the AUV to a specified location. However, the side slip angle caused by the ocean current interference easily causes the static error of the AUV kinematic controller, and the control precision is reduced.
And 2. The AUV dynamic model has high nonlinearity, contains various hydrodynamic parameters, is difficult to accurately obtain, is easily interfered by ocean currents in the motion process of the AUV, and easily influences the control precision and robustness. The traditional PID control is applied to an AUV with high nonlinear characteristic, easily causes problems of overshoot, oscillation and the like, and simultaneously easily causes saturation of an actuating mechanism, and has certain defects in robustness and accuracy. The sliding mode control is a robust control method, can solve the problems of model uncertainty, external disturbance and the like to a certain extent, but the traditional sliding mode control also faces the problem of output buffeting, and the service life of an execution mechanism is easily influenced.
And the output of the AUV controller of the X rudder is in a torque form and needs to be converted into each command rudder angle through control distribution. The traditional pseudo-inverse method has strong real-time performance, but does not consider the rudder angle output limit; and another non-linear optimization-based method, such as SQP method, takes output limit into consideration, but the algorithm is complex, occupies larger computational resources of AUV, and has poor real-time performance.
Therefore, on the basis of the existing AUV navigation control, how to solve the problems of low control accuracy, poor robustness, dependence on model parameters and the like caused by AUV ocean current interference, model uncertainty and the like in the traditional method becomes a problem to be solved by the technical staff in the field.
Disclosure of Invention
In view of the above problems, the present invention provides an AUV robust and accurate control method for an X-type rudder, which can effectively reduce the influence of model uncertainty and external interference on AUV control.
The embodiment of the invention provides an AUV robust accurate control method for an X-type rudder, which comprises the following steps:
acquiring the position, posture, linear speed and angular speed of an AUV hull, and establishing a kinematics model, a dynamics model and an X distribution model to form an X rudder AUV mathematical model;
respectively obtaining the current AUV position and route information of a horizontal plane and a vertical plane, establishing a horizontal plane kinematics controller, and designing a vertical plane kinematics control law;
designing a nonlinear disturbance observer to estimate and compensate unmodeled dynamics of the X-rudder AUV mathematical model and a vertical surface kinematics control law, and generating an AUV high-order sliding mode controller;
and performing X-rudder control distribution on the control output resolved by the AUV high-order sliding mode controller based on a damping matrix.
Further, the kinematic model is:
in the above formula, a vector [ x, y, z ] represents the position of the AUV hull under the geodetic coordinate system; euler angle vector [ phi, theta, psi ] represents hull attitude; [ u, v, w ] represents the linear velocity of the hull in the hull coordinate system, and [ p, q, r ] represents the angular velocity of the hull in the hull coordinate system.
Further, the kinetic model is:
in the above formula, m represents AUV mass; f. of r RepresentA kinetic model known item; d r Representing model uncertainty terms.
Further, the X allocation model is:
in the above formula, k δi 、m δi 、n δi I =1, \8230, 4 is the hydrodynamic coefficient of 4 rudders in the transverse inclination, the hydrodynamic coefficient of the longitudinal inclination and the hydrodynamic coefficient of the rotation freedom respectively; delta. For the preparation of a coating i I =1, \ 8230, 4 is the 4 rudder angles of the X rudder.
Further, a level kinematics controller is set up by:
respectively acquiring two-dimensional coordinates of a position point of a current AUV on a horizontal plane and a starting waypoint, a target waypoint and a next waypoint of a current flight path;
calculating a track angle of the first straight-line track section; the first straight-line flight path section consists of a starting flight path point and a target flight path point of the current flight path section of the horizontal plane;
making a vertical line from the current AUV position point of the horizontal plane to the first linear track section, and obtaining the track deviation of the AUV horizontal plane according to the track angle of the first linear track section;
and eliminating the track deviation of the AUV horizontal plane, calculating an interference estimation value and a sideslip angle estimation value, and generating a horizontal plane kinematics controller.
Further, calculating the track angle of the first straight track segment by the following formula:
ψ k ＝atan2(y k+1 -y k ,x k+1 -x k )
in the above formula, (x) k ,y k ) Representing a horizontal plane two-dimensional coordinate of a target waypoint of the current leg; (x) k+1 ,y k+1 ) And a horizontal plane two-dimensional coordinate representing the next waypoint of the current leg.
Further, the track deviation of the AUV horizontal plane is calculated by the following formula:
e＝-(x-x k-1 )sin(ψ k )+(y-y k-1 )cos(ψ k )
in the above formula, (x) k-1 ,y k-1 ) A horizontal plane two-dimensional coordinate representing a starting waypoint of the current leg; (x, y) represents the current AUV position point of the horizontal plane; psi k The track angle of the first straight track segment is indicated.
Further, the eliminating the track deviation of the AUV horizontal plane and calculating the interference estimation includes:
and (3) carrying out derivation on the track deviation of the AUV horizontal plane:
in the above formula, V represents the horizontal plane sailing speed of the AUV; beta represents a sideslip angle caused by ocean current disturbance; psi k Representing a track angle of the first linear track segment;
let g = V β cos (ψ - ψ) k )；
Interference estimation is performed on g by:
in the above-mentioned formula, the compound has the following structure,
is an estimate of g; k is a radical of g Is a parameter of the observer; p is a radical of g Is an auxiliary variable of the observer; v represents the horizontal plane sailing speed of the AUV; e represents the track deviation of the AUV horizontal plane; psi k The track angle of the first straight-line track segment is indicated.
Further, the slip angle estimate is calculated by the following equation:
in the above formula, the first and second carbon atoms are,
is an estimate of g; v represents the horizontal plane sailing speed of the AUV; psi k The track angle of the first straight track segment is indicated.
Further, the vertical plane kinematics control law is designed by:
respectively acquiring a current AUV (autonomous underwater vehicle) position point of a vertical plane, and two-dimensional coordinates of a starting waypoint and a target waypoint of a current flight section;
calculating the submergence angle of the second straight track section; the second straight-line track section consists of an initial route point and a target route point of the current route section of the vertical plane;
drawing a vertical line from the current AUV position point of the vertical plane to the second straight-line track section, and obtaining the track deviation of the AUV vertical plane according to the submergence angle of the second straight-line track section;
and eliminating the flight path deviation of the AUV vertical plane, and introducing a vertical plane kinematics control law of an integral action.
Further, the vertical plane kinematic control law of the integration is as follows:
in the above formula, [ theta ] d Desired heading angle, θ, for vertical plane k Is the angle of repose of the second straight track section, e h Is the track deviation of AUV vertical plane, delta is the foresight distance, k i Are integral parameters.
Further, the AUV high-order sliding mode controller is:
in the above formula, k 1 、k 2 Is the controller gain; s u 、
s θ 、s ψ Is a slip form surface; sgn is a sign function; e.g. of the type u 、e θ 、e ψ In order to be an error in the measurement,
is g in the kinetic model u 、g p 、g q 、g r An estimated value of (d);
representing the disturbance that the model uncertainty of the observer estimate causes in conjunction with the ocean current.
Further, performing control distribution of an X rudder on the control output resolved by the AUV high-order sliding mode controller based on a damping matrix, wherein the control distribution is as follows:
y＝(W -1 B T B) -1 W -1 B T τ
in the above formula, τ = [ τ ] p ,τ q ,τ r ] T Outputting the control resolved by the AUV high-order sliding mode controller; w is damping matrix, W = diag (W) 1 ,w 2 ,w 3 ,w 4 )，w i I belongs to {1,2,3,4}; b is an X-steering control allocation matrix.
Further, consider the rudder angle output limit, w i Satisfies the following conditions:
the upper typeIn, w s Is a constant; u. of i And i belongs to {1,2,3,4} is the rudder angle output of the AUV high-order sliding mode controller; delta. For the preparation of a coating min,i Is the minimum limit of the corresponding rudder angle; delta max,i Is the maximum limit of the corresponding rudder angle;
a constant greater than 0 is preset.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the embodiment of the invention provides an AUV robust accurate control method for an X-type rudder, which comprises the following steps: acquiring the position, the posture, the linear speed and the angular speed of an AUV hull, and establishing a kinematic model, a dynamic model and an X distribution model to form an X rudder AUV mathematical model; respectively acquiring the current AUV position and route information of a horizontal plane and a vertical plane, establishing a horizontal plane kinematics controller, and designing a vertical plane kinematics control law; designing a non-linear interference observer to estimate and compensate unmodeled dynamics of an X-rudder AUV mathematical model and a vertical surface kinematics control law, and generating an AUV high-order sliding mode controller; and performing X-rudder control distribution on the control output resolved by the AUV high-order sliding mode controller based on the damping matrix. The control method can effectively reduce the influence of model uncertainty and external interference on AUV control.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of an AUV robust and accurate control method for an X-type rudder according to an embodiment of the present invention;
fig. 2 is a structural diagram of an X-rudder AUV controller provided in an embodiment of the present invention;
FIG. 3 is a schematic view of a gaze guidance method provided by an embodiment of the present invention;
fig. 4 is a structural diagram of an AUV dynamics controller according to an embodiment of the present invention;
fig. 5 is a diagram of an AUV three-dimensional path tracking control simulation effect provided by an embodiment of the present invention;
FIG. 6 is a diagram of the simulation effect of AUV horizontal trajectory control provided by the embodiment of the present invention;
fig. 7 is a diagram of an AUV vertical plane trajectory control simulation effect provided by the embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the invention provides an AUV robust accurate control method for an X-type rudder, which is shown in figure 1 and comprises the following steps:
acquiring the position, the posture, the linear speed and the angular speed of an AUV hull, and establishing a kinematic model, a dynamic model and an X distribution model to form an X rudder AUV mathematical model;
respectively acquiring the current AUV position and route information of a horizontal plane and a vertical plane, establishing a horizontal plane kinematics controller, and designing a vertical plane kinematics control law;
designing a non-linear interference observer to estimate and compensate unmodeled dynamics of an X-rudder AUV mathematical model and a vertical surface kinematics control law, and generating an AUV high-order sliding mode controller;
and performing X-rudder control distribution on the control output resolved by the AUV high-order sliding mode controller based on the damping matrix.
The control method can effectively reduce the influence of model uncertainty and external interference on AUV control.
The robust and accurate control method for the X-type rudder AUV is specifically explained in detail as follows:
the X-rudder AUV mathematical model comprises an AUV kinematic model, a dynamic model and an X distribution model. The kinematics model describes the relationship between the lower attitude first differential of the AUV geodetic coordinate system and the generalized velocity of the boat body coordinate system, and is specifically shown as the following formula:
the AUV motion state is described and constructed by adopting a SNAME system recommended form, wherein a defined vector [ x, y, z ] represents the position of the hull under a geodetic coordinate system, an Euler angle vector [ phi, theta, psi ] represents the attitude of the hull, a vector [ u, v, w ] represents the linear velocity of the hull under a hull coordinate system, and a vector [ p, q, r ] represents the angular velocity of the hull under the hull coordinate system. The specific parameter meanings are shown in the table 1:
TABLE 1 SNAME symbol definition
The AUV dynamic model describes the motion state of the AUV under the influence of force/moment, and the ocean current speed under a boat body coordinate system can be expressed as follows:
u c ＝U c cos(θ)cos(ψ c -ψ)
wherein, U c 、ψ c Respectively representing the magnitude and direction of the ocean current velocity in the geodetic coordinate system.
The relative speed under the boat body coordinate system is as follows:
u r ＝u-u c
v r ＝v-v c
w r ＝w-w c
assuming that the AUV is subjected to zero buoyancy in water, the AUV longitudinal dynamics model considering the influence of ocean currents can be described as:
wherein m is AUV mass, C mn Is hydrodynamic coefficient, C belongs to [ X, Y, Z, K, M, N]And the lower corner mark mn represents corresponding motion, and m, n belongs to [ u, v, w, p, q, r.]。
Similarly, the AUV residual 5-degree-of-freedom dynamics model can be written as a form of decoupling a known model from an interference and unknown model, and can be described as:
wherein, f o Representing known items of a kinetic model, D o Representing the dynamics model uncertainty term,. Tau o The AUV propeller and the X-rudder generate control forces/moments corresponding to the degrees of freedom. Wherein o is belonged to [ u, v, w, p, q, r]. Wherein f is u ，f v ，f w ，f p ，f q ，D v ，D w ，D p ，D q ，τ p ，τ q ，τ r ，g u ，g p ，g q ，g r These parameters need only give g-term quadratics, and the remaining several terms can be easily derived from the AUV longitudinal dynamics model equation considering the influence of ocean currents. Further, there are:
wherein, I x 、I y 、I z Is the moment of inertia, τ, about the corresponding coordinate axis of AUV p 、τ q And τ r All generated by the X-rudder.
The X rudder allocation model of AUV describes the relationship between rudder angle and output torque, as shown in the following equation:
wherein: k is a radical of formula δi 、m δi 、n δi I =1, \ 8230, 4 is the hydrodynamic coefficient of the 4 rudders in the heeling, pitching and turning degrees of freedom, delta i 4 rudder angles for the X rudder.
Step 2, constructing an X rudder AUV controller:
the X-rudder AUV controller is composed of a kinematics controller based on sideslip angle compensation, a dynamics controller based on a high-order sliding mode and a non-linear disturbance observer, and the structure of the X-rudder AUV controller is shown in FIG. 2.
Specifically, the horizontal kinematics controller of the AUV uses line-of-sight navigation, a schematic of which is shown in fig. 3. In the figure p k-1 (x k-1 ,y k-1 )、p k (x k ,y k ) Respectively are the two-dimensional coordinates, p, of the starting waypoint and the target waypoint of the current flight section on the horizontal plane k+1 (x k+1 ,y k+1 ) Is the horizontal plane two-dimensional coordinate of the next waypoint, (x) t ,y t ) If the current position of AUV is, the course point p k-1 (x k-1 ,y k-1 ) And p k (x k ,y k ) Track angle psi of composed straight track segments k Is calculated as follows:
ψ k ＝atan2(y k+1 -y k ,x k+1 -x k ) (6)
and (3) making a section from the vertical line to the target straight track from the current position point of the AUV to obtain the track deviation e of the AUV from the track, wherein the calculation formula is shown as the following formula:
e＝-(x-x k-1 )sin(ψ k )+(y-y k-1 )cos(ψ k ) (7)
in order to make the track deviation tracked by the AUV track gradually converge to zero, the course instruction is calculated according to the traditional straight line LOS design algorithm as shown in the following formula:
in the formula, Δ is a forward looking distance. When the AUV is interfered by ocean currents in the navigation process, due to the existence of a sideslip angle caused by interference, a traditional LOS cannot output a correct course instruction, and a static error exists after a straight-line track is stably tracked. The embodiment improves the LOS algorithm aiming at the problem, and designs the sideslip angle observer to compensate the LOS algorithm so as to achieve the purpose of no static error in track control. The design process of the sideslip angle observer is as follows:
first, the track deviation is derived to obtain the following formula:
in the formula: v is the horizontal plane navigation speed of the AUV, and beta is a sideslip angle caused by ocean current interference; psi k Representing the heading angle under the name system. Since the AUV sideslip angle during sailing is small, the above equation (9) can be converted into the following equation:
let g = V β cos (ψ - ψ) k ) The interference estimation algorithm for g can be designed according to equation (10) above as follows:
in the formula:
is an estimate of g, k g As a parameter of the observer, p g Is an auxiliary variable of the observer.
Further, the slip angle estimation value is calculated according to the formula (10) and the formula (11):
a correction LOS algorithm is adopted for the observed sideslip angle, the AUV underactuation property is considered, and a horizontal plane kinematic controller considering the sideslip angle compensation is shown as the following formula:
wherein psi d Is the desired heading angle of the horizontal plane, psi k Is the track angle of the straight track section, e is the track deviation, delta is the foresight distance,
is an estimate of the slip angle.
On the vertical plane, let p k (y k ,z k )、p k+1 (y k+1 ,z k+1 ) In order to respectively represent the two-dimensional coordinates of the east displacement and the depth of the starting waypoint and the target waypoint of the current flight path, if (y, z) is the current position of the AUV, the waypoint p k (y k ,z k )、p k+1 (y k+1 ,z k+1 ) The submergence angle of the constituent straight track segments can be calculated as follows:
θ k ＝atan2(z k+1 -z k ,y k+1 -y k ) (14)
making a vertical line from the current position point of the AUV to the target track section, and obtaining the track deviation e of the AUV from the track h The calculation formula is shown as the following formula:
e h ＝-(y-y k )sin(θ k )+(z-z k )cos(θ k ) (15)
in order to make the AUV vertical plane track deviation converge to zero, the generation algorithm of the designed command pitch angle is shown as the following formula:
in the formula: Δ is the look-ahead distance.
In order to eliminate vertical plane track control static error caused by the generation of attack angle by the vertical plane unbalance, an integration function is added on the basis of the formula (16), the vertical plane track control static error is eliminated through integration and accumulation, and the vertical plane kinematic control law introducing the integration function is shown as the following formula:
in the formula: theta.theta. d Is the desired heading angle, theta, of the vertical plane k Is the angle of submersion of the straight track section, e h Is the vertical plane track deviation, delta is the forward-looking distance, k i Are integral parameters.
And then designing a feedback control law of the AUV based on a high-order sliding mode algorithm and a nonlinear disturbance observer.
As shown in fig. 4, taking AUV roll stabilization control as an example, the tracking error of the system is defined as:
wherein the content of the first and second substances,
set to 0 for the desired roll angle. The linear sliding mode surface is designed as follows:
in the above formula, c is a control constant.
The derivation of the above formula is:
according to (1), there are:
designing a high-order sliding mode approximation law as follows:
wherein k is 1 、k 2 For gain, sgn () is a sign function. Substituting the expressions (4), (20) and (21) into the expression (22) to obtain a high-order sliding mode control law of the roll degree of freedom:
considering that the AUV roll angle is small, equation (1) can be rewritten as:
similar to the processes of the formulas (18) - (23), the high-order sliding mode control law for obtaining the degrees of freedom of the AUV in pitching and yawing is as follows:
wherein e is θ ＝θ-θ d ，e ψ ＝ψ-ψ d ，
The AUV also needs to realize speed control, and the sliding mode surface is designed as follows:
wherein e is u ＝u-u d Is the speed error. Similar to the processes of equations (20) - (23), the high-order sliding mode control law facing the AUV speed can be obtained as follows:
wherein e is u ＝u-u d . Because the control laws (23), (25) and (27) contain unmodeled dynamics, a nonlinear disturbance observer is designed to estimate and compensate the unmodeled dynamics, and the form of the observer corresponding to four degrees of freedom is as follows:
in the formula (28), L is the observer gain, xi u 、ξ p And xi q Is an auxiliary variable. The AUV high-order sliding mode controller combined with the nonlinear disturbance observer is in the form of:
in the above formula, k 1 、k 2 To control the gain of the controller, su,
s θ 、s ψ For sliding mode surfaces, sgn is a sign function, e u 、e θ 、e ψ In order to be an error, the error is,
is g in the kinetic model u 、g p 、g q 、g r The estimated value of (a), can be processed as a constant;
the model uncertainty estimated for the observer is a disturbance caused by the current together, wherein the observer is a disturbance observer of the formula (28); θ d is the desired heading angle of the vertical plane; psi d Is the desired heading angle of the horizontal plane.
Only known quantities in the model (1) are required in the control law (29), and unknown quantities and external disturbances are compensated by the disturbance observer equation (28). If the dynamic model is completely unknown, the disturbance observer and the high-order sliding-mode controller formed by the equations (28) and (29) can be further written as follows:
wherein L is the gain of the disturbance observer, xi u 、ξ p 、ξ q 、ξ r Is an auxiliary variable.
Thus, the AUV control is completed under the condition that the dynamic model is completely unknown.
Step 3, constructing an X rudder AUV control distribution strategy:
control output [ tau ] resolved by high-order sliding mode controller (31) u ,τ p ,τ q ,τ r ]In, tau u Generated directly by the AUV main propeller, τ = [ τ ] p ,τ q ,τ r ] T The rudder angle of the X rudder is calculated according to a control allocation strategy when the X rudder of the AUV generates.
According to formula (5), there are:
τ＝Bδ (10)
wherein the content of the first and second substances,
δ＝[δ 1 ,δ 2 ,δ 3 ,δ 4 ] T 。
the embodiment provides an improved pseudo-inverse algorithm, which is based on a damping matrix to realize X rudder control allocation, can meet the requirements of rudder angle limitation and quick response while quickly calculating a command rudder angle, and comprises the following steps:
y＝(W -1 B T B) -1 W -1 B T τ (11)
wherein y is the command rudder angle output by the algorithm, and τ = [ τ = p ,τ q ,τ r ] T For controller output, W = diag (W) 1 ,w 2 ,w 3 ,w 4 ) For damping matrix, B is X-steering control allocation matrix, w i I e {1,2,3,4} is greater than 0 constant, w in the damping matrix i The larger the numerical value is, the stronger the corresponding rudder angle output restriction action is, and the rudder angle output limit is considered, w i Satisfies the following conditions:
wherein, w s Is a large constant, u i I ∈ {1,2,3,4} is the rudder angle output of the control distribution algorithm (finger (33) }, δ min,i And delta max,i For the minimum and maximum limits of the corresponding rudder angle,
is a constant greater than 0.
The AUV control algorithm in this embodiment is simulated according to steps 1 to 3, assuming that the AUV is disturbed by the ocean current in a sinusoidal form in a simulation environment, a dynamic model is unknown, the AUV starts from a point [ -8,102,0], traverses 6 path points [500,300,15], [1000,300,30], [1500,0,45], [1000, -300,30], [500, -300,15], [80,0,0], and the desired speed is 3 knots, and robust and accurate three-dimensional path tracking is completed according to the proposed control algorithm. The three-dimensional path tracking result is shown in fig. 5, the AUV horizontal plane trajectory is shown in fig. 6, and the AUV vertical plane trajectory is shown in fig. 7.
The robust accurate control method for the X-type rudder AUV provided by the embodiment can effectively solve the problems of low control accuracy, poor robustness, dependence on model parameters and the like caused by AUV ocean current interference, model uncertainty and the like in the traditional method. Firstly, designing a kinematics controller with sideslip angle compensation based on an observer, and reducing the control error of the kinematics controller; secondly, considering the problem of buffeting of an execution mechanism caused by traditional sliding mode control, a dynamic controller is designed by combining a high-order sliding mode controller and a nonlinear disturbance observer, and the dynamic controller is suitable for AUV control under the conditions of external disturbance and model uncertainty; finally, an improved self-adaptive X-rudder control allocation method is provided by combining a damping matrix, and the output limitation and the calculation real-time performance of the X-rudder angle are considered.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An AUV robust accurate control method for an X-type rudder is characterized by comprising the following steps:
acquiring the position, posture, linear speed and angular speed of an AUV hull, and establishing a kinematics model, a dynamics model and an X distribution model to form an X rudder AUV mathematical model;
respectively acquiring the current AUV position and route information of a horizontal plane and a vertical plane, establishing a horizontal plane kinematics controller, and designing a vertical plane kinematics control law;
designing a nonlinear disturbance observer to estimate and compensate unmodeled dynamics of the X-rudder AUV mathematical model and a vertical surface kinematics control law, and generating an AUV high-order sliding mode controller;
and performing X-rudder control distribution on the control output calculated by the AUV high-order sliding mode controller based on a damping matrix.
2. The robust and accurate control method for the AUV of the X-type rudder as claimed in claim 1, characterized in that the horizontal plane kinematics controller is established by:
respectively acquiring two-dimensional coordinates of a position point of a current AUV on a horizontal plane and a starting waypoint, a target waypoint and a next waypoint of a current flight path;
calculating a track angle of the first straight-line track section; the first straight-line flight path section consists of a starting flight path point and a target flight path point of the current flight path section of the horizontal plane;
making a vertical line from the current AUV position point of the horizontal plane to the first linear track section, and obtaining the track deviation of the AUV horizontal plane according to the track angle of the first linear track section;
and eliminating the track deviation of the AUV horizontal plane, calculating an interference estimation value and a sideslip angle estimation value, and generating a horizontal plane kinematics controller.
3. The robust and accurate control method for the AUV of the X-type rudder as claimed in claim 2, characterized in that the track angle of the first linear track section is calculated by the following formula:
ψ k ＝atan2(y k+1 -y k ,x k+1 -x k )
in the above formula, (x) k ,y k ) Representing a horizontal plane two-dimensional coordinate of a target waypoint of the current leg; (x) k+1 ,y k+1 ) A horizontal plane two-dimensional coordinate representing a next waypoint of the current leg.
4. The robust and accurate control method for the AUV of the X-type rudder as claimed in claim 2, characterized in that the track deviation of the AUV horizontal plane is calculated by the following formula:
e＝-(x-x k-1 )sin(ψ k )+(y-y k-1 )cos(ψ k )
in the above formula, (x) k-1 ,y k-1 ) Representing a horizontal plane two-dimensional coordinate of a starting route point of the current route section; (x, y) represents the current AUV position point of the horizontal plane; psi k The track angle of the first straight track segment is indicated.
5. The robust and accurate control method for the X-type rudder AUV as claimed in claim 2, wherein the elimination of the track deviation of the AUV horizontal plane and the calculation of the interference estimate comprise:
and (3) derivation is carried out on the flight path deviation of the AUV horizontal plane:
in the above formula, V represents the horizontal plane sailing speed of the AUV; beta represents a sideslip angle caused by ocean current disturbance; psi k Representing a track angle of the first linear track segment;
let g = V β cos (ψ - ψ) k )；
Interference estimation is performed on g by:
in the above formula, the first and second carbon atoms are,
is an estimate of g; k is a radical of g Is a parameter of the observer; p is a radical of g Is an auxiliary variable of the observer; v represents the horizontal plane sailing speed of the AUV; e represents the track deviation of the AUV horizontal plane; psi k The track angle of the first straight track segment is indicated.
6. The robust and accurate control method for the X-type rudder AUV as recited in claim 5, wherein the estimated value of the sideslip angle is calculated by the following formula:
in the above formula, the first and second carbon atoms are,
is an estimate of g; v represents the horizontal plane sailing speed of the AUV; psi k The track angle of the first straight-line track segment is indicated.
7. The robust and accurate control method for the AUV of the X-type rudder as claimed in claim 1, characterized in that the vertical plane kinematics control law is designed by:
respectively acquiring a current AUV (autonomous underwater vehicle) position point of a vertical plane, and two-dimensional coordinates of a starting waypoint and a target waypoint of a current flight section;
calculating the submergence angle of the second straight-line track section; the second straight-line route section consists of a starting route point and a target route point of the current route section of the vertical plane;
drawing a vertical line from the current AUV position point of the vertical plane to the second straight-line track section, and obtaining the track deviation of the AUV vertical plane according to the submergence angle of the second straight-line track section;
and eliminating the track deviation of the AUV vertical plane, and introducing the vertical plane kinematics control law of integral action.
8. The robust and accurate control method for the X-type rudder AUV as claimed in claim 7, wherein the vertical plane kinematic control law of the integral action is as follows:
in the above formula, θ d Is the desired heading angle, theta, of the vertical plane k Is the angle of submersion of the second straight track section, e h Is the track deviation of AUV vertical plane, and is the forward-looking distance, k i Are integral parameters.
9. The robust and accurate AUV control method of claim 1, characterized in that the AUV high-order sliding mode controller is:
in the above formula, k 1 、k 2 Is the controller gain; su,
sθ、s ψ To be slippedA die face; sgn is a sign function; e.g. of the type u 、e θ 、e ψ In order to be an error in the measurement,
is g in the kinetic model u 、g p 、g q 、g r An estimated value of (d);
representing the disturbance caused by the model uncertainty of the observer estimate in combination with the ocean current.
10. The AUV robust and accurate control method for the X-rudder according to claim 1, wherein the control distribution of the X rudder is performed on the control output solved by the AUV high-order sliding-mode controller based on a damping matrix, and comprises the following steps:
y＝(W -1 B T B) -1 W -1 B T τ
in the above formula, τ = [ τ ] p ,τ q ,τ r ] T Outputting the control resolved by the AUV high-order sliding mode controller; w is a damping matrix, W = diag (W) 1 ,w 2 ,w 3 ,w 4 )，w i I belongs to {1,2,3,4}; b is an X-steering control allocation matrix.
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