KR20170071441A - Nonlinear Adaptive Control System for Remotely Operated Vehicle - Google Patents

Abstract

A method for controlling a remote unmanned submersible vehicle according to the present invention includes receiving a target position of a remote unmanned submersible in a global coordinate system, calculating a position, a speed and an acceleration of a remote unmoving submersible in a global coordinate system for moving the remote unmoving submersible to a target position Converting the position, velocity, and acceleration of the remote unmanned submersible in the global coordinate system to a local speed in the local coordinate system of the remote unmoving submersible; calculating a torque for moving the remote unmanned submersible to the target position using the local velocity; Calculating a thrust force to be applied to each of a plurality of thrusters provided in the remote unmanned submersible by using the calculated torque. According to the present invention, it is possible to provide an integrated control method from the speed profile to the motor control by using the parameter adaptive back stepping control and the PLL control. In addition, backstepping and PLL control method for controlling remote unmanned submersible by using backstepping control among various techniques for adaptive control of external force according to external disturbance and hydrodynamic coefficient is proposed, Predictable control of the remote unmanned submersible can be implemented.

Description

Technical Field [0001] The present invention relates to a nonlinear adaptive control system for a remote unmanned submersible,

The present invention relates to a nonlinear adaptive control system for a remote unmanned submersible.

In a complex marine environment, marine robots need control to maintain their position in strong tidal currents. Such control techniques include sliding mode control, adaptive control, back-stepping control, fuzzy logic, and neuro network. Is coming.

Sliding mode control is a control method that can directly process nonlinear dynamics without requiring linearization, and is a method of making the slope of the error change to negative. By using the signum function, the output is given as -1 0 1, and nonlinear dynamics processing enables movement in all directions. It is a simple method, but there are limits to handling complex and many parameters.

Fuzzy logic control is a control method using inference rules, and it is possible to perform linear control by reducing the error distance by a single input / output (SISO). Although the accuracy of control improves according to the number of inference rules applied, more computation time is required as more rules are applied. When a large number of input / output (MIMO) is used, control is difficult due to increase in data throughput, processing speed and complexity.

The neuro network control is a method of setting a plurality of parameters related to a control object by using a network simulating a human brain function and setting and controlling the weights of the combination and the combination thereof, It is difficult to determine the formula for obtaining data throughput and joint weights.

Adaptive control is a control method that is used when there is a large change in the external environment. The ideal model is created and matched to the model, thereby reducing computation burden and enabling distributed computing. However, in the case of nonlinear models, computation burden is large, and it is difficult to apply to complex models.

The backstepping control can be designed to ensure tracking of the target position, orientation, and posture of the ROV (Remotely Operated Vehicle) as a tracking control method that follows the target value when the target value changes.

However, most of the previous researches that have been presented above are mostly torque control and do not consider control to the motor control loop. Accurate attitude and speed control can not accomplish the mission perfectly without control to the motor control loop, in case of complex tasks requiring agile motion control, or when changing tasks and changing tasks in fast tides.

Accordingly, an object of the present invention is to provide an integrated control method from a speed profile to a motor control by using parameter adaptive back stepping control and PLL control. In addition, we propose a backstepping and PLL control method to control remote unmanned submersible by using backstepping control among various methods for adaptive control to external force according to external disturbance and hydrodynamic coefficient, To realize predictable control of the unmanned submersible.

According to another aspect of the present invention, there is provided a remote control method for a submersible vehicle, including: receiving a target position of a remote unmanned submersible in a global coordinate system; Velocity, and acceleration of the remote unmanned submersible in the coordinate system, converting the position, velocity, and acceleration of the remote unmoved submersible calculated in the global coordinate system to a local velocity in the local coordinate system of the remote unmoved submersible Calculating a torque for the remote unmanned submersible to move to the target position using the local velocity, and calculating a torque for moving the remote submersible to the target position using a plurality of thrusters provided in the remote unmanned submersible, And calculating a thrust force to be applied.

The method may further include obtaining a propeller speed of each of the plurality of thrusters corresponding to the calculated thrust for each of the plurality of thrusters.

The method may further include inputting a propeller speed of each of the plurality of thrusters to a PLL controller to perform motor control so that a propeller speed of each of the plurality of thrusters reaches a target propeller speed.

The PLL controller includes a digital encoder for converting an output value output from the motor of the plurality of trussers into an output frequency, and a PLL controller for converting the output frequency converted from the digital encoder into a ratio of the fixed frequency to the output frequency A phase detector for calculating and outputting a frequency difference between the value output from the counter and the fixed frequency, a filter for removing a high frequency component from a frequency difference output from the phase detector, And an amplifier for amplifying the signal and outputting the amplified signal to the motor.

Wherein the local velocity is obtained by comparing the position, velocity, and acceleration calculated in the global coordinate system with the current position and velocity of the remote unmanned submersible to obtain an error value, and performing a reciprocal covariance matrix on the velocity and the error value calculated in the global coordinate system Can be obtained.

Wherein the torque for the remote unmanned submersible to move to the target position is determined by at least one of a difference between the local speed and a local speed received via an external sensor of the remote unmanned submersible, Can be obtained by using a coefficient.

A thrust to be exerted by each of the plurality of thrusters can be obtained by using an inverse thruster conversion matrix (Matrix).

 The propeller speed of each of the plurality of thrusters corresponding to the thrust force to be imposed on each of the plurality of thrusters may be obtained using an inverse thruster model.

According to an aspect of the present invention, there is provided an apparatus for controlling a position of a remote unmanned submersible in a global coordinate system for moving a remote unmanned submersible to a target position, Calculating a torque for the remote unmanned submersible to move to the target position using the local speed, and using the calculated torque to switch to the remote unmanned submersible at a local speed in the local coordinate system of the remote unmanned submersible, And a controller for calculating a thrust force to be applied to each of the plurality of thrusters.

The controller may obtain a propeller speed of each of the plurality of thrusters corresponding to the calculated thrust for each of the plurality of thrusters.

The controller may include a PLL controller that receives the propeller speed of each of the plurality of thrusters and performs motor control so that the propeller speed of each of the plurality of thrusters reaches a target propeller speed.

According to the present invention, it is possible to provide an integrated control method from the speed profile to the motor control by using the parameter adaptive back stepping control and the PLL control. In addition, backstepping and PLL control method for controlling remote unmanned submersible by using backstepping control among various techniques for adaptive control of external force according to external disturbance and hydrodynamic coefficient is proposed, Predictable control of the remote unmanned submersible can be implemented.

1 is a schematic diagram of a remote unmanned submersible according to an embodiment of the present invention.
2 is a block diagram of a controller according to an embodiment of the present invention.
3 is a block diagram showing back stepping control of the controller according to the embodiment of the present invention.
FIG. 4 is a block diagram illustrating a method for obtaining three-phase voltages required for controlling a BLDC motor according to an embodiment of the present invention by using a back stepping technique. Referring to FIG.
5 is a block diagram illustrating a PLL controller according to an embodiment of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor may appropriately define the concept of the term in order to best describe its invention It should be construed as meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents And variations are possible.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic diagram of a remote unmanned submersible according to an embodiment of the present invention.

First, the kinematics and dynamics modeling of a remotely operated vehicle (ROV) will be described.

The ROV is a 6-DOF (Degree) system that includes three axes along with Surge, Sway, and Heave, as well as 6-DOF motion involving roll, pitch, Of the Freedom.

The modeling of kinematics and dynamics of the ROV can be used to determine the force required to achieve the desired position and velocity.

Referring to FIG. 1, the modeled ROV 100 is composed of four horizontal trussers 111 and four vertical trussers 112. Four horizontal trussers 111 control the direction X, Y and Yaw and four horizontal trussors 112 control the direction Z, roll, and pitch.

ROV 100 represents the position and velocity in the Earth-fixed frame and the body-fixed frame.

로 표현하고, Body-fixed Frame 에서 속도 및 각속도를

로 표현한다. 두 좌표변환간의 속도관계는 자코비안을 이용한 식

으로 ROV 운동방정식을 정리할 수 있다.Earth-fixed frame position and Euler angle

And the velocity and angular velocity in the body-fixed frame

. The velocity relation between two coordinate transformations is expressed by the equation using Jacobian

The ROV motion equation can be summarized.

로 한다.The dynamics modeling of ROV (100) is based on the basic mechanics model formula plus external force (external disturbance, hydrodynamic additional mass)

.

은 강체 질량과 관성, 유체역학의 부가 질량에 대한 행렬,

는 강체 코리올리와 구심, 유체역학의 부가질량에 의한 코리올리 행렬을 의미한다.In the mechanical model expression

Is a matrix of rigid body mass and inertia, additional mass of fluid mechanics,

Means the Coriolis matrix with rigid coriolis, centroid, and additional mass of hydrodynamics.

는 유체저항에 대한 선형, 이차 감쇠 행렬,

은 중력과 부력 벡터를 나타내며, 마지막으로

는 유체 운동에 의한 교란의 힘과 모멘트 벡터를 의미한다.

로 앞에 각 행렬 및 벡터들로 계산된 제어해야 할 힘과 모멘트가 된다.Also

Is a linear, quadratic damping matrix for the fluid resistance,

Represents gravity and buoyancy vectors, and finally

Means force and moment vector of disturbance due to fluid motion.

And the force and moment to be controlled are calculated by the respective matrices and vectors in front.

The remote unmanned submersible according to the present invention may include a controller for controlling the ROV as a backstepping & PLL-based control model.

2 is a block diagram of a controller according to an embodiment of the present invention.

Referring to FIG. 2, the controller of the remote controller of the remote control system according to the present invention includes kinematics and dynamics, a thruster construction matrix, and a motor model in order to move the ROV 100 to a target position It is possible to change the torque value to the thruster speed with the position command as torque, and to perform stable control with PLL (Phase-locked-loop).

The kinematics and dynamics modeling of the ROV is based on the Jacobian and basic dynamics described above. The hydrodynamic parameters received from the outside are unknown, and the information (position, Speed, and depth) are summarized using a backstepping method. It can be seen that the energy is stable and controllable by the Lyapunov Equation.

)로 계산된다. ROV의 local 속도 및 가속도를 이용하여 역 다이나믹스(Inverse Dynamics)에서 ROV가 이동하기 위해 필요한 힘인 토크(

)를 계산한다. 계산된 힘은 Inverse TCM(Thruster Conversion Matrix)에서 ROV가 이동하기 위해 8개의 트러스터 각각이 내야 할 추력(

)을 계산한다.2, if the target position to which the ROV 100 is to be moved is input in the global coordinate system, the position, velocity, and velocity in the global coordinate system for moving from the velocity profile to the target position, Calculate the acceleration. The calculated values are converted from the inverse kinematics to the local coordinate system using the Jacobian equation to determine the local velocity and acceleration of the ROV

). Using the local velocity and acceleration of the ROV, the torque required to move the ROV in the inverse dynamics

). The computed forces are the thrust convergence matrices (TCMs), and the thrust convergence matrix

).

)을 내기 위한 트러스터의 프로펠러 속도(RPM)를 역 트러스터 모델(Inverse Thruster Model)에서 계산하여 PLL 컨트롤러(PLL controller)에 입력하고, 프로펠러 속도(RPM)를 PLL 컨트롤러에서 사용자가 원하는 프로펠러 속도(RPM)에 도달할 수 있도록 모터 제어(motor control)를 수행한다.thrust(

The propeller speed (RPM) of the thruster to generate the propeller speed (RPM) is calculated from the inverse thruster model and input to the PLL controller, and the propeller speed (RPM) 0.0 > RPM). ≪ / RTI >

Next, the backstepping controller modification will be described.

Each part can be represented by the following equation in the order shown in Fig.

- Inverse Kinematics

It is a term to derive the local speed from the global speed.

: 로컬 좌표상 속도

: Speed in local coordinates

: 글로벌 좌표상 위치와 오일러 각도를 이용한 역자코비안

: Cobian using the position and Euler angles on global coordinates

: 글로벌 좌표상 목표 속도

: Target speed on global coordinates

: 포지티브 게인(positive gain)

: Positive gain

: 글로벌 좌표상 목표위치와 글로벌 좌표상 현재 위치의 차이 값

: Difference value between the current position on the global coordinates and the target position on the global coordinates

- station Dynamics (Inverse Dynamics)

It is a term to find the force necessary to move to the target position.

: 목표 위치로 이동하기 위해 필요한 토크(힘)

: Torque (force) required to move to the target position

: 현재 알고 있는 다이나믹스(Dynamics) 값 (현재 Global 좌표상 위치와 오일러 각도, 글로벌 좌표상 속도, 로컬 좌표상 속도, 가속도, 힘)

: The current Dynamics value (position and Euler angles on current global coordinates, velocity on global coordinates, velocity, acceleration, force on local coordinates)

: 미지의(unknown) 유체역학적 계수 파라미터(26개)의 계산 값

: Calculated value of unknown hydrodynamic coefficient parameter (26)

= 유체역학의 부가 질량

= Additional mass of hydrodynamic

= 유체역학적 선형 감쇠 값

= Hydrodynamic linear attenuation value

= 유체역학적 이차감쇠 값

= Hydrodynamic secondary attenuation value

= 강체 부가 관성

= Rigid body inertia

= 강체 중력

= Rigid body gravity

= 강체 부력

= Rigid buoyancy

= 중력중심과 부력 중심 사이의 거리 값

= Distance between center of gravity and center of buoyancy

= 외부 유체 속도

= External fluid velocity

: 포지티브 게인(positive gain)

: Positive gain

: 로컬 좌표상 속도와 현재 속도와의 차이 값

: Difference between the velocity in the local coordinates and the current velocity

= 글로벌 좌표상 위치와 오일러 각도를 이용한 자코비안 변환 값

= Jacobian transformation using global position and Euler angle

: 이전 미지의 파라미터 계산 값을 프로젝션(projection) 함수를 이용해 값을 결정

: Calculate the value of the previous unknown parameter using the projection function

: 포지티브 러닝 게인(positive learning gain)(1보다 적은 값)

: Positive learning gain (less than 1)

: 현재 알고 있는 다이나믹스(Dynamics) 변환 값

: The currently known Dynamics conversion value

: t 시간에서의 로컬 좌표상 속도와 현재 속도와의 차이 값

: Difference value between the velocity and the current velocity on the local coordinate at time t

- Inverse TCM

It is a term to calculate the output from each trusser using the torque value.

(X, Y, Yaw),

(Z, Roll, Pith)로 나누어 표현하고, 8개의 트러스트의 속도는

로 나타내었다. 두 변수 간의 관계식은

를 만족한다.As shown in FIG. 1, the eight trussers are composed of four horizontal trussers 111 and four vertical trussers 112, and four horizontal trussers 111 are arranged in the directions X, Y, Yaw) and four vertical thrusters 112 are arranged to control the direction (Z, Roll, Pith). The force (torque) required by each of the eight thrusters

(X, Y, Yaw),

(Z, Roll, Pith), and the speed of the eight trusts is

Respectively. The relationship between two variables is

.

,

은 분해된 추력 변환값이다. 다음 아래와 같이 각 매트릭스(matrix)가 표현된다.

,

Is the disassembled thrust conversion value. Each matrix is represented as follows.

:

와

의 차원을 고려한 pseudo-right inverse matrix of

:

Wow

Pseudo-right inverse matrix of

:

와

의 차원을 고려한 pseudo-right inverse matrix of

:

Wow

Pseudo-right inverse matrix of

: 변경된 트러스터 출력

: Changed truster output

- station Truster  Inverse Thruster Model

: 트러스터 출력이 트러스터 회전속도 제곱에 비례를 나타낸 식

: The output of the thruster is proportional to the square of the speed of the thruster

= 트러스터 계수(회전 속도에 따라 달라짐)

= Thrustor factor (depends on rotation speed)

= 트러스터 회전 속도

= Thruster rotation speed

: 토크 로드는 속도에 비례하는 식으로 정의 가능

: Torque load can be defined as proportional to speed

: 트러스터 계수

: Thruster coefficient

: 토크 로드를 Inverse TCM에서 구한 트러스터 출력에 의해 변형

: The torque load is transformed by the output of the thruster obtained from Inverse TCM

3 is a block diagram showing back stepping control of the controller according to the embodiment of the present invention.

)를 입력 받아 현재 위치, 속도(

)와 비교하여 에러값 구하고, 역자코비안으로 로컬 속도(

)를 구한다. 역 다이나믹스(Inverse Dynamics)에서 로컬 속도(

)와 원격 무인 잠수정의 외부센서를 통해 받은 로컬 속도(

)의 차이와, 계산된 유체역학적인 파라미터(

) 값과 다이나믹스(Dynamics) 값(

)을 이용하여 토크(

)값을 구한다. Inverse ROV가 이동하기 위해 8개의 트러스터 각각 내야할 속도(

)를 계산한다. 추력(

)을 내기 위한 트러스터의 프로펠러 속도(RPM)를 역 트러스터 모델(Inverse Thruster Model)에서 계산하여 PLL 컨트롤러에 입력하고, 프로펠러 속도(RPM)를 PLL 컨트롤러에서 사용자가 원하는 프로펠러 속도(RPM)로 도달할 수 있도록 모터 제어를 수행한다.Inverse kinematics uses position, velocity, and acceleration in the global coordinate system from the velocity profile to the target position

) To receive the current position, speed (

), And the error rate is calculated by using the local velocity (

). Inverse Dynamics to Local Speed (

) And the local speed received via the external sensor of the remote unmanned submersible (

), And the calculated hydrodynamic parameters (

) Value and a Dynamics value (

) To calculate the torque

). Inverse ROV is the speed at which each of the eight trussers must travel to travel

). thrust(

The propeller speed (RPM) of the thruster for calculating the propeller speed (RPM) is calculated by the inverse thruster model and input to the PLL controller. The propeller speed (RPM) is reached from the PLL controller to the desired propeller speed So that the motor control can be performed.

The backstepping controller modification (BLDC) will now be described in detail.

- Angular speed of motor

: 트러스터 속도(RPM)를 기어비(N)로 곱하여 모터 각속도(

)를 나타낸 식

: Multiplies the throttle speed (RPM) by the gear ratio (N) to calculate the motor angular speed

)

: 계산된 모터 각속도(

)와 현재 모터 각속도(

)를 비교하여 추정 모터 각속도(

)를 구해낸 식

: Calculated motor angular velocity (

) And the current motor angular speed (

) To obtain the estimated motor angular velocity (

) From the equation

- Target motor Torque

: 모터에서의 토크(힘)를 구하는 식

: Finding the torque (force) in the motor

: 모터의 관성(inertia of motor)

: Inertia of motor

: 점성 마찰 계수(viscous friction coefficient)

: Viscous friction coefficient

: 모터의 각속도

: Angular velocity of motor

: 프로펠러 속도 또는 모터 속도의 관점에서의 부하 토크

: Load torque in terms of propeller speed or motor speed

: 모터 토크

: Motor Torque

: 모터 토크를 계산하기 위해 각 추정값을 계산

: Calculate each estimate to calculate motor torque

: 포지티브 게인(positive gain)

: Positive gain

: 현재 알고 있는 값(모터의 각가속도, 각속도, 트러스터 출력)

: Presently known value (angular velocity of motor, angular velocity, truss output)

: 추정 미지의(unknown) 파라미터

: Unknown parameter

- Target Current

: 토크와 전류사이의 비례 상수값

: Proportional constant value between torque and current

- Target voltage

: 현재 알고 있는 값(3상에 들어가는 전류, 역기전력값)

: Current value (current in 3 phases, counter electromotive force value)

: 추정 미지의(unknown) 파라미터(BLDC 모터 각 저항 및 인덕터, 역기전력 상수

)

: Unknown parameter (BLDC motor angular resistance and inductor, counter-electromotive force constant

)

FIG. 4 is a block diagram illustrating a method for obtaining three-phase voltages required for controlling a BLDC motor according to an embodiment of the present invention by using a back stepping technique. Referring to FIG.

)를 구하고, 현재 모터 각속도(

)와 비교하여 추정 모터 각속도(

)를 계산한다. 타켓 모터 토크(Target motor Torque) 단에서 모터(motor) 토크를 계산하기 위해 필요한 추정 미지의(unknown) 파라미터(

)를 모터 각속도, 각가속도값(

)과 곱하여 추정 모터 각속도(

)와 포지티브 게인(positive gain)(

) 곱을 합하여 토크(

)값을 구한다. 타겟 전류단(Target Current) 단에서

를 곱하여 토크를 내기 위한 전류(

)값을 구한다. 타겟 전압(Taget voltage) 단에서 계산된 전류값(

)과 현재 전류값(

)을 비교하여 추정 전류값(

)을 계산하고, 포지티브 게인(positive gain)(

)곱과 입력으로 필요한 전압을 알기위해 필요한 추정 미지의(unknown) 파라미터(

)를 3상의 각 값(

) 곱을 더하여 전압값(

)을 계산한다.First, at the angular speed of the motor, the angular speed of the motor is calculated by multiplying the input propeller speed (RPM) by the gear ratio (N)

), And the current motor angular velocity (

) And the estimated motor angular velocity (

). The unknown unknown parameter (s) needed to calculate the motor torque at the target motor torque stage

) To the motor angular velocity, the angular acceleration value (

) To obtain the estimated motor angular velocity (

) And a positive gain (

) Are added to the torque

). At the target current stage,

(≪ / RTI >< RTI ID = 0.0 >

). The current value calculated at the target voltage (Taget voltage)

) And the current value (

) Is compared with the estimated current value (

), And calculates a positive gain (

) And the unknown unknown parameter needed to know the voltage required for the input (

) To each value of the three phases (

) To obtain the voltage value (

).

Phase-locked-loop (PLL) aims to synchronize the frequency by fixing the phase of the waveform in a way that is commonly used in analog RF.

We will design and apply a motor control loop to reach the user's desired speed using digital PLL technique.

A digital PLL is a method of digitizing each component of a PLL using a conventional analog and implementing it as a computer program.

The main components of the PLL are divided into a fixed frequency, a phase detector, a loop filter, a VCO (Voltage Controlled Oscillator), and a counter.

In CO (Voltage Controlled Oscillator), the frequency is output according to the input value, and it is converted into the output frequency for comparison by dividing the frequency outputted from the input voltage and the fixed frequency by the appropriate ratio in the counter.

The fixed frequency is a reference frequency, which is an object to be compared with the output frequency. If the output frequency differs from the fixed frequency, the phase detector calculates the difference and gives a value to compensate for the difference.

The loop filter removes high frequency components from the frequency difference from the phase detector and removes ripples (ripples in frequency).

5 is a block diagram illustrating a PLL controller according to an embodiment of the present invention.

The PLL controller according to the present invention can be replaced with a motor instead of an input voltage controlled oscillator for motor control using a digital PLL. In Figure 5 it is illustrated that the BLDC motor is replaced by an input voltage controlled oscillator. The output value of the motor is divided into digital encoders and converted into output frequency. The converted output frequency is divided by the ratio of the fixed frequency and the output frequency by a counter for comparison with the fixed frequency .

The foregoing detailed description is illustrative of the present invention. It is also to be understood that the foregoing is illustrative and explanatory of preferred embodiments of the invention only, and that the invention may be used in various other combinations, modifications and environments. That is, it is possible to make changes or modifications within the scope of the concept of the invention disclosed in this specification, the disclosure and the equivalents of the disclosure and / or the scope of the art or knowledge of the present invention. The foregoing embodiments are intended to illustrate the best mode contemplated for carrying out the invention and are not intended to limit the scope of the present invention to other modes of operation known in the art for utilizing other inventions such as the present invention, Various changes are possible. Accordingly, the detailed description of the invention is not intended to limit the invention to the disclosed embodiments. It is also to be understood that the appended claims are intended to cover such other embodiments.

Claims (16)

Receiving a target position of a remote unmanned submersible in a global coordinate system,
Calculating a position, a velocity and an acceleration of the remote unmanned submersible in a global coordinate system for moving the remote unmoved submersible to the target position,
Converting the position, velocity and acceleration of the remote unmanned submersible in the global coordinate system to a local speed in the local coordinate system of the remote unmoving submersible,
Calculating a torque for the remote unmanned submersible to move to the target position using the local speed, and
Calculating a thrust force to be exerted on each of a plurality of thrusters provided in the remote unmanned submersible using the calculated torque;
Wherein the remote control device is a remote control device.
The method of claim 1,
Obtaining a propeller speed of each of the plurality of thrusters corresponding to the calculated thrust for each of the plurality of thrusters
Further comprising the steps of:
3. The method of claim 2,
Inputting a propeller speed of each of the plurality of thrusters to a PLL controller to perform motor control so that a propeller speed of each of the plurality of thrusters reaches a target propeller speed
Further comprising the steps of:
4. The method of claim 3,
The PLL control unit includes:
A digital encoder for converting an output value output from the motor of the plurality of trussers into an output frequency,
A counter for dividing the output frequency converted by the digital encoder according to a ratio of the fixed frequency and the output frequency for comparison with a fixed frequency,
A phase detector for calculating and outputting a frequency difference between the value output from the counter and the fixed frequency,
A filter for removing a high-frequency component with respect to a frequency difference output from the phase detector, and
An amplifier for amplifying a signal from which high-frequency components have been removed from the filter and outputting the amplified signal to the motor,
Wherein the remote control device is a remote control device.
The method of claim 1,
The &
A remote control unit for obtaining an error value by comparing the position, velocity, and acceleration calculated in the global coordinate system with the current position and velocity of the remote unmanned submersible, calculating a velocity in the global coordinate system and applying a reciprocal covariance matrix to the error value, Unmanned submersible control method.
The method of claim 1,
Wherein the torque for the remote unmanned submersible to move to the target position,
A difference between the local speed and a local speed received through an external sensor of the remote control submersible, a known dynamics value of the remote control submersible, and a hydrodynamic coefficient.
The method of claim 1,
And a thrust force to be applied to each of the plurality of thrusters is obtained by using an inverse thruster conversion matrix (Mathematical Expression 2) on the calculated torque.
8. The method of claim 7,
Wherein the propeller speed of each of the plurality of thrusters corresponding to a thrust force to be imposed on each of the plurality of thrusters is obtained using an inverse thruster model.
Speed and acceleration of the remote unmanned submersible in the global coordinate system for moving the remote unmoving submersible to the target position and switches to the local speed in the local coordinate system of the remote unmoved submersible, A controller for calculating a torque for moving the unmanned submersible vehicle to the target position and calculating a thrust force for each of the plurality of thrusters provided in the remote unmanned submersible using the calculated torque,
And a control unit for controlling the submarine.
The method of claim 9,
The controller comprising:
And obtains a propeller speed of each of the plurality of thrusters corresponding to the calculated thrust for each of the plurality of thrusters.
11. The method of claim 10,
The controller comprising:
A PLL controller for receiving a propeller speed of each of the plurality of thrusters and performing motor control so that a propeller speed of each of the plurality of thrusters reaches a target propeller speed;
And a control unit for controlling the submarine.
12. The method of claim 11,
The PLL control unit includes:
A digital encoder for converting an output value output from the motor of the plurality of trussers into an output frequency,
A counter for dividing the output frequency converted by the digital encoder according to a ratio of the fixed frequency and the output frequency for comparison with a fixed frequency,
A phase detector for calculating and outputting a frequency difference between the value output from the counter and the fixed frequency,
A filter for removing a high-frequency component with respect to a frequency difference output from the phase detector, and
An amplifier for amplifying a signal from which high-frequency components have been removed from the filter and outputting the amplified signal to the motor,
And a control unit for controlling the submarine.
The method of claim 9,
The &
A remote control unit for obtaining an error value by comparing the position, velocity, and acceleration calculated in the global coordinate system with the current position and velocity of the remote unmanned submersible, calculating a velocity in the global coordinate system and applying a reciprocal covariance matrix to the error value, Unmanned submersible control device.
The method of claim 9,
Wherein the torque for the remote unmanned submersible to move to the target position,
A difference between the local velocity and a local velocity received through an external sensor of the remote control submersible, a known dynamics value of the remote control submersible, and a hydrodynamic coefficient.
The method of claim 9,
And calculates a thrust force to be applied to each of the plurality of thrusters by using an inverse thruster conversion matrix (Matrix).
16. The method of claim 15,
Wherein a propeller speed of each of the plurality of thrusters corresponding to a thrust force to be imposed on each of the plurality of thrusters is obtained using an inverse thruster model.

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