CN106094842B - A kind of UUV diving plane H based on T-S model and PDC∞Control method - Google Patents
A kind of UUV diving plane H based on T-S model and PDC∞Control method Download PDFInfo
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Abstract
The invention belongs to underwater moving body control technology fields, and in particular to a kind of UUV diving plane H based on T-S model and PDC∞Control method.The present invention includes establishing UUV diving plane model, including the deep-controlled model of UUV and UUV trim Controlling model；It is modeled using depth and trim system of the T-S model to UUV；H is designed based on parallel distributed compensation PDC method∞Controller；With the dive for the method control UUV that depth-trim coordinated control deepens, to guarantee that Angle of Trim meets design requirement.Diving plane H is designed by establishing the depth and trim model of the UUV based on T-S model, and based on parallel distributed compensation (PDC) method∞Controller, using the dive for the method control UUV that depth-trim coordinated control deepens, Angle of Trim is excessive during solving the problems, such as UUV dive, to guarantee the safety of UUV operation.
Description
Technical field
The invention belongs to underwater moving body control technology fields, and in particular to a kind of UUV based on T-S model and PDC is vertical
Face movement H directly∞Control method.
Background technique
UAV navigation (UnmannedUnderwaterVehicle, UUV) is a kind of based on the small-sized of new and high technology
Underwater self-propelled carrier can complete specific underwater operation task by way of remote control or autonomous operation.It can be with using UUV
Carry out deep-sea exploration, marine resources development, the tasks such as raising of a wreck and the investigation of military harbour tactics.Though diving plane
It is so a special case of UUV spatial movement, but its key for completing mission task, UUV diving plane is controlled
The research of problem suffers from important meaning in terms of theoretical Research And Engineering practice.The movement of UUV have it is serious non-linear,
And the speed of a ship or plane is frequently necessary to change.It is required with UUV intelligence and control accuracy requirement and to extraneous interference rejection capability
Improve, UUV movement control technology is also faced with huge challenge, the control algolithms of some classics due to itself limitation
It is not able to satisfy the high-precision control to UUV.
Document " the H based on LMI∞Application of the filter in the control of UUV trim " (Shipbuilding of China, 2013, volume 54 the
4 phases) based on LMI method be UUV pitching control system devise an optimal robustness H∞Filter, then, using special
Bilinear transformation method solves in the imaginary axis of UUV pitching control system equation that there are poles to be unsatisfactory for filter design condition
Problem.Finally by the robust H of design∞Filter is applied to UUV pitching control system, however document is specific there is no establishing
The T-S model of UUV vertical plane, but trim control problem is solved by the robustness of filter, the control that the present invention takes
Method is essentially different with it.
Document " Research on Comprehensive Control Technology of latent device diving plane " (Harbin Engineering University's master thesis,
2008.) the excessive problem of Angle of Trim during UUV dive is had studied, and using Sliding Mode Controller in UUV dive process
Middle addition Angle of Trim judgment module, to realize the limitation to Angle of Trim during dive, but the not control to depth and trim
Coordination switching is carried out, the present invention uses H∞Depth controller controls the depth of UUV, while Angle of Trim is added and judges mould
Block realizes the switching of deep-controlled and trim control, can depth-trim to UUV dive process carry out coordinated control.
Summary of the invention
It can be in UUV the object of the present invention is to provide one kind and become the speed of a ship or plane and in the case where by ocean current interference,
The UUV diving plane H based on T-S model and PDC that the movement of UUV vertical plane is controlled∞Control method.
The object of the present invention is achieved like this:
(1) UUV diving plane model, including the deep-controlled model of UUV and UUV trim Controlling model are established；
UUV diving plane model is
Vertical equation:
Trim equation:
Posture equation:
Movement relation formula:
In formula, m is UUV mass；L is the length of UUV；ρ is density of sea water；B is buoyancy suffered by UUV；U, v, w UUV
Longitudinally, laterally with vertical component velocity；Q, p, r are UUV trim, heel and vertical angular speed；X, y, z be UUV surging, swaying and
Heaving displacement；xG、yG、zGLongitudinally, laterally and vertical center gravity for UUV；φ is UUV roll angle, θ is UUV Angle of Trim, ψ is UUV bow
Cradle angle；δsFor hydroplane rudder angle；X, Y, Z be UUV longitudinally, laterally with vertical active force；K, M, N be UUV longitudinally, laterally with it is vertical
Opplied moment；Z′(·)、M′(·)For zero dimension hydrodynamic force coefficient, I(·)For under hull coordinate system to the rotary inertia of axis；Center of gravity with
Centre of buoyancy coordinate is respectively (0,0,0), (0,0, zB)；J be UUV to origin not in the inertia matrix of barycentric coordinate system,
(2) it is modeled using depth and trim system of the T-S model to UUV；
UUV depth and pitching control system contain the state space description of the nonlinear system of disturbance are as follows:
In formula, x (t) ∈ RnFor state variable；u(t)∈RmTo control input variable；w(t)∈Rq,w(t)∈L2(R) it is
External disturbance；F (t) is nonlinear function；
The vertical face system of above-mentioned UUV is approached with following T-S fuzzy system, rule is as follows:
Ri:if ξ1(t) is Mi1 and ξ2(t) is Mi2...andξp(t) is Mip
then
Z (t)=Cx (t)+Du (t)
In formula, ξi(t), i=1,2 ..., the former piece variable of r fuzzy rule；Mij(j=1,2 ..., p) it is fuzzy set；r
For rule number；(Ai,Bi, H) be the corresponding dimension of i-th of subsystem matrix；RiFor the i-th rule of fuzzy system；C, D are
Controlled output phase answers the matrix of dimension, obtains the Global fuzzy model of the vertical face system of UUV:
Z (t)=Cx (t)+Du (t)
Wherein,
βi(ξ (t)) indicates that ξ (t) belongs to fuzzy set MijMembership function, while also illustrating that the relevance grade of the i-th rule；
hi(ξ (t)) indicates standardization subordinating degree function；
(3) H is designed based on parallel distributed compensation PDC method∞Controller；
Fuzzy system are as follows:
Obtain fuzzy domination structure:
Ri:if ξ1(t) is Mi1 and...ξp(t) is Mip
Then u (t)=KiX (t), i=1,2 ..., r；
Global system fuzzy controller are as follows:
Closed-loop system are as follows:
Wherein,
(4) dive of the method control UUV deepened with depth-trim coordinated control, to guarantee that Angle of Trim meets design
It is required that.
The beneficial effects of the present invention are: depth and trim model by establishing the UUV based on T-S model, and base
Diving plane H is designed in parallel distributed compensation (PDC) method∞Controller, the method deepened using depth-trim coordinated control
The dive of UUV is controlled, Angle of Trim is excessive during solving the problems, such as UUV dive, to guarantee the safety of UUV operation.
Detailed description of the invention
Fig. 1 UUV diving plane controls hardware structure diagram；
Fig. 2 UUV depth control system schematic diagram；
Fig. 3 UUV pitching control system schematic diagram；
Fig. 4 PDC schematic diagram；
Fig. 5 UUV depth-trim coordinated control flow chart.
Specific embodiment
The present invention is described in more detail with reference to the accompanying drawing.
The invention discloses a kind of based on T-S model and PDC (Parallel Distributed Compensation)
UUV (Unmanned Underwater Vehicle) diving plane H∞Control method, its object is to be in become for UUV
Speed of a ship or plane work characteristics and in the case of by ocean current interference, controls the movement of UUV vertical plane.Firstly, utilizing T-S model pair
The depth and pitching control system of UUV is approached；Then, LMI (Linear Matrix is utilized based on PDC method
Inequality H) is designed∞Controller；Finally, the problem excessive for UUV dive process Angle of Trim, utilizes the H of design∞It is deep
It spends controller and trim controller and carries out the coordinated control of depth trim, the present invention is for can be preferable in the speed of a ship or plane section of setting
It realizes depth and trim control, there is preferable dynamic property, and utilize the H of design∞Depth controller and trim controller into
Trim coordinated control deepens method to row depth-can effectively reduce the Angle of Trim of UUV dive process, guarantees the safety of aircraft.
A kind of UUV diving plane H based on T-S model and PDC of the present invention∞The working principle of control method:
Motion control computer calculates the pitch angle of UUV, speed of a ship or plane original state input T-S model after receiving control instruction
State feedback factor inputs the H designed based on PDC∞Controller utilizes H∞Depth controller controls the depth of UUV, together
When be added Angle of Trim judgment module: when Angle of Trim be greater than design requirement when, from H∞It is deep-controlled to switch to H∞Trim control, when vertical
When inclination angle is not more than design requirement, then H is switched back into∞It is deep-controlled.It specifically includes:
1 establishes UUV diving plane model, including the deep-controlled model of UUV and UUV trim Controlling model；
2 are modeled using depth and trim system of the T-S model to UUV；
3 design H based on parallel distributed compensation (PDC) method∞Controller；
The dive of the 4 method control UUV deepened with depth-trim coordinated control, is wanted with guaranteeing that Angle of Trim meets design
It asks.
1, a kind of to be described based on the UUV vertical plane of T-S fuzzy model and PDC control specific implementation step in conjunction with Fig. 5
Are as follows:
1) user inputs the desired depth of UUV；
2) deep-controlled, motion control computer reception desired depth instruction, in conjunction with the initial shape of sensor feedback is carried out
State information input T-S fuzzy model solves controller state feedback factor.
3) real time status information that controller is fed back by resolving current sensor, output rudder angle control instruction；
4) when steering engine executes control instruction, if Angle of Trim is not above limitation, UUV is continued to run until reaching desired depth
And controlling depth is exported, need to carry out trim control if Angle of Trim is more than limitation and goes to step 2.It is thusly-formed closed-loop control
System realizes the deep-controlled and trim control of UUV vertical plane.
2, the deep-controlled and trim control of UUV vertical plane contains the building, based on T-S model foundation of hardware configuration
UUV depth and trim model, diving plane H∞The resolving of controller, in conjunction with attached drawing to the detailed description of the present invention:
In conjunction with Fig. 1, the UUV diving plane built controls hardware structure diagram.Doppler log, programmable movements control
Device, depth transducer, attitude transducer form the sensing system of UUV vertical plane；ARM and motion control computer form UUV
The controller system of vertical plane；The executing agency of Programmable Multi-Axis Controller and hydroplane composition UUV vertical plane.Sensing system
Pitch angle, the speed of a ship or plane, depth information are provided, these information are sent to motion control computer by serial ports.Motion control computer
Carry out corresponding analog-to-digital conversion after receiving the data and clear out rudder angle instruction, while by Ethernet output rudder angle instruct to
The depth and Angle of Trim of actuating mechanism controls UUV are controlled after ARM.
3, in conjunction with Fig. 2 and Fig. 3, UUV diving plane model, including the deep-controlled model of UUV and the control of UUV trim are established
Model.
Due to the symmetry of UUV structure, it is assumed that the origin of hull coordinate system is located at the center of gravity of UUV, with reference to six degree of freedom mould
Type can obtain shown in UUV diving plane model such as formula (1)~formula (4).
Vertical equation:
Trim equation:
Posture equation:
Movement relation formula:
In formula, m is UUV mass；L is the length of UUV；ρ is density of sea water；B is buoyancy suffered by UUV；U, v, w UUV
Longitudinally, laterally with vertical component velocity；Q, p, r are UUV trim, heel and vertical angular speed；X, y, z be UUV surging, swaying and
Heaving displacement；xG、yG、zGLongitudinally, laterally and vertical center gravity for UUV；φ is UUV roll angle, θ is UUV Angle of Trim, ψ is UUV bow
Cradle angle；δsFor hydroplane rudder angle；X, Y, Z be UUV longitudinally, laterally with vertical active force；K, M, N be UUV longitudinally, laterally with it is vertical
Opplied moment；Z′(·)、M′(·)For zero dimension hydrodynamic force coefficient, I(·)For under hull coordinate system to the rotary inertia of axis；Center of gravity with
Centre of buoyancy coordinate is respectively (0,0,0), (0,0, zB)；J be UUV to origin not in the inertia matrix of barycentric coordinate system,
For the ease of the design of controller, simplification appropriate is carried out to the depth of UUV and trim model below.
1) the deep-controlled model of UUV
When carrying out deep-controlled to UUV, ignore the effect of some non-principal factors in horizontal plane motion and equation, and
And vertical equation (1) is disregarded to deep-controlled influence, it is u in the UUV speed of a ship or plane0Operating condition under carry out linearization process (w ≈ 0, v
≈0,p≈0,r≈0,Cos θ ≈ 1, sin θ ≈ θ), obtain equation group:
In formula, dq,dθ,dζIncluding error, uncertainty and external disturbance that model linearization generates, for system
Bounded input, they are bounded.Enabling the depth of UUV instruct is constant ζr, meetIntroduce new variable ζe=ζr-ζ
:
It is u that UUV, which can be obtained, in the speed of a ship or plane by (5) formula and (6) formula0When linear nominal depth control system state equation:
In formula:
2) UUV trim Controlling model
Assuming that the center of gravity G of UUV is located at the origin O of kinetic coordinate system, while ignoring horizontal plane motion and rolling motion ginseng
Several influences (thinking that v, p, r are a small amount of), and disregard the higher order term of kinematic parameter, equation group can be obtained:
In formula, dq,dw,dθIncluding error, uncertainty and external disturbance that model linearization generates, for system
Bounded input, they are bounded.Enabling the Angle of Trim of UUV platform instruct is constant θr, meet conditionIt introduces newly
Variable θe=θr- θ is obtained:
It is u that UUV, which can be obtained, in the speed of a ship or plane by (8) formula and (9) formula0When linear nominal pitching control system state equation:
Wherein, A=H-1P, B=H-1Q
4, the H based on T-S model∞Controller design
1) the T-S model description of the vertical face system of UUV
Assuming that the state space of nonlinear system of the vertical face system of UUV (depth and pitching control system) containing disturbance
Description are as follows:
In formula, x (t) ∈ RnFor state variable；u(t)∈RmTo control input variable；w(t)∈Rq,w(t)∈L2(R) it is
External disturbance (ocean current, ocean current and measurement noise etc.)；F (t) is nonlinear function.
The vertical face system of above-mentioned UUV is approached with following T-S fuzzy system, rule is as follows:
Ri:if ξ1(t) is Mi1 and ξ2(t) is Mi2...and ξp(t) is Mip
then
Z (t)=Cx (t)+Du (t)
In formula, ξi(t), i=1,2 ..., the former piece variable of r fuzzy rule；Mij(j=1,2 ..., p) it is fuzzy set；r
For rule number；(Ai,Bi, H) be the corresponding dimension of i-th of subsystem matrix；RiFor the i-th rule of fuzzy system；C, D are
Controlled output phase answers the matrix of dimension, then can obtain the Global fuzzy model of the vertical face system of UUV:
Wherein,
βi(ξ (t)) indicates that ξ (t) belongs to fuzzy set MijMembership function, while also illustrating that the relevance grade of the i-th rule；
hi(ξ (t)) indicates standardization subordinating degree function.
2) based on the H of PDC∞Controller design
By the principle of Fig. 4 PDC it is found that the former piece of fuzzy model is enjoyed in the design of the fuzzy controller based on PDC.Assuming that mould
Paste system can then obtain the fuzzy domination structure of (15) formula as shown in (14) formula:
Global system fuzzy controller are as follows:
Closed-loop system can be obtained by (13) formula and (16) formula:
Wherein,
For T-S fuzzy system (13), design point feedback controller (16), so that closed-loop system (17) asymptotically stability is simultaneously
And for given γ > 0, to all w (t) ∈ L2[0 ,+∞), meet | | z (t) | |2< γ | | w (t) | |2, that is, there is H∞
Norm circle.
Theorem 1: for giving constant γ > 0, existence feedback controller u (t)=K (h) x (t), so that closed-loop system
(17) asymptotically stability and satisfaction | | z (t) | |2< γ | | w (t) | |2Necessary and sufficient condition be there are positive definite matrix Q and matrix R (h),
So that:
It sets up, then designed state feedback controller are as follows:
Wherein,
The solvability of lower surface analysis inequality (18):
Due toThe item that inequality (18) formula is set up
Part is inequality:
It sets up.Wherein, Q=P-1,Rj=KjQ。
Robust H has been carried out to T-S Fuzzy Descriptor Systems∞The research of control problem combines above-mentioned analysis based on this, has
Theorem is set up below:
Theorem 2: system (13) is H∞Can be stable, if there is common nonsingular positive definite symmetric matrices Q, meet:
Wherein: Ri=KiQ.State feedback controller are as follows:
(21) formula and (22) formula are one about Q, RiLMIs.
5, UUV depth-trim coordinated control based on T-S model
The problem excessive for Angle of Trim during UUV dive, using Sliding Mode Controller during UUV dive
Angle of Trim judgment module is added, to realize the limitation to Angle of Trim during dive, the present invention utilizes the H designed∞Controller
Realize depth-trim coordinated control of UUV dive process.Depth-trim coordinated control basic ideas are as follows: first with H∞
Depth controller controls the depth of UUV, while Angle of Trim judgment module is added: when Angle of Trim is greater than design requirement,
From H∞It is deep-controlled to switch to H∞Trim control then switches back into H when Angle of Trim is not more than design requirement∞It is deep-controlled.
It is an advantage of the invention that being played strictly during UUV is deepened to Angle of Trim with depth-trim coordinated control
Restriction effect, it is also higher to the safety of UUV operation.
Claims (1)
1. a kind of UUV diving plane H based on T-S model and PDC∞Control method, which comprises the steps of:
(1) UUV diving plane model, including the deep-controlled model of UUV and UUV trim Controlling model are established；
UUV diving plane model is
Vertical equation:
Trim equation:
Posture equation:
Movement relation formula:
In formula, m is UUV mass；L is the length of UUV；ρ is density of sea water；B is buoyancy suffered by UUV；U, v, w be UUV it is longitudinal,
Lateral and vertical component velocity；Q, p, r are UUV trim, heel and vertical angular speed；X, y, z is UUV surging, swaying and heaving position
It moves；xG、yG、zGLongitudinally, laterally and vertical center gravity for UUV；φ is UUV roll angle, θ is UUV Angle of Trim, ψ is UUV yaw angle；δs
For hydroplane rudder angle；X, Y, Z be UUV longitudinally, laterally with vertical active force；K, M, N be UUV longitudinally, laterally with vertical active force
Square；Z′(·)、M′(·)For zero dimension hydrodynamic force coefficient, I(·)For under hull coordinate system to the rotary inertia of axis；Center of gravity and centre of buoyancy are sat
Mark is respectively (0,0,0), (0,0, zB)；J be UUV to origin not in the inertia matrix of barycentric coordinate system,
(2) it is modeled using depth and trim system of the T-S model to UUV；
UUV depth and pitching control system contain the state space description of the nonlinear system of disturbance are as follows:
In formula, x (t) ∈ RnFor state variable；u(t)∈RmTo control input variable；w(t)∈Rq,w(t)∈L2(R) it is disturbed for the external world
It is dynamic；F (t) is nonlinear function；
The vertical face system of above-mentioned UUV is approached with following T-S fuzzy system, rule is as follows:
Ri:if ξ1(t) is Mi1 and ξ2(t) is Mi2...and ξp(t) is Mip
Z (t)=Cx (t)+Du (t)
In formula, ξi(t), i=1,2 ..., the former piece variable of r fuzzy rule；Mij(j=1,2 ..., p) it is fuzzy set；R is rule
Then number；(Ai,Bi, H) be the corresponding dimension of i-th of subsystem matrix；RiFor the i-th rule of fuzzy system；C, D are controlled
Output phase answers the matrix of dimension, obtains the Global fuzzy model of the vertical face system of UUV:
Wherein,
βi(ξ (t)) indicates that ξ (t) belongs to fuzzy set MijMembership function, while also illustrating that the relevance grade of the i-th rule；hi(ξ
(t)) standardization subordinating degree function is indicated；
(3) H is designed based on parallel distributed compensation PDC method∞Controller；
Fuzzy system are as follows:
Obtain fuzzy domination structure:
Global system fuzzy controller are as follows:
Closed-loop system are as follows:
Wherein,
(4) dive of the method control UUV deepened with depth-trim coordinated control, to guarantee that Angle of Trim meets design requirement.
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