CN108776428A - A kind of Autonomous Underwater Vehicle four-way coupling control method - Google Patents
A kind of Autonomous Underwater Vehicle four-way coupling control method Download PDFInfo
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- CN108776428A CN108776428A CN201810591545.2A CN201810591545A CN108776428A CN 108776428 A CN108776428 A CN 108776428A CN 201810591545 A CN201810591545 A CN 201810591545A CN 108776428 A CN108776428 A CN 108776428A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000008878 coupling Effects 0.000 title claims abstract description 7
- 238000010168 coupling process Methods 0.000 title claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 238000010025 steaming Methods 0.000 abstract description 4
- 230000003068 static effect Effects 0.000 abstract description 2
- 241000380131 Ammophila arenaria Species 0.000 abstract 1
- 230000008901 benefit Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 210000003954 umbilical cord Anatomy 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/18—Control of attitude or depth by hydrofoils
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention proposes a kind of Autonomous Underwater Vehicle four-way coupling control method, obtains attitude transducer and depth transducer data respectively first, each data are filtered；Then vertical plane control calculating is carried out respectively, horizontal plane control calculates and control of sideward roll calculates；Rudder angle distribution is carried out later to calculate, and control moment is assigned on four rudder faces, helm angle is obtained；Then acquisition speed sensor information carries out speed control calculating after being filtered, and obtains control rotary speed instruction；Rudder angle and rotary speed instruction are finally sent to executing agency to execute.The present invention passes through control algolithm, make single-blade that cross rudder type AUV be added to pass through periodically control rudder angle and rotating speed, realize AUV steady steamings, and the rudder angle allocation algorithm used in the present invention considers the influence that AUV rolls are brought, AUV under arbitrary roll angle is all suitable for, especially when AUV roll angle non-zeros, there is better control effect than traditional static rudder distribution method.
Description
Technical field
The present invention relates to a kind of Autonomous Underwater Vehicle control methods, are promoted especially for propeller and add cross rudder face cloth
The revolving body Autonomous Underwater Vehicle control method of office, belongs to submarine navigation device control field.
Background technology
Unmanned submersible (Unmanned Underwater Vehicle, abbreviation for marine exploration and submarine observation
UUV remote control submarine navigation device (Remote Operated Vehicle, abbreviation ROV) and Autonomous Underwater Vehicle) can be divided into
Two kinds of (Autonomous Underwater Vehicle, abbreviation AUV).Compared with ROV, AUV is as a kind of underwater autonomous delivery
Tool is navigated by water by the energy entrained by itself, the tasks such as subaqueous survey, article delivery can be completed, in military ocean surveillance, sea
There is important role in the fields such as foreign environmental monitoring, oil field exploration.AUV have scope of activities and depth it is big, without umbilical cord limitation, can
Into supporting system in labyrinth body, without the complicated water surface, occupy the advantages such as deck is small, operating maintenance expense is low.
Currently, revolving body AUV rudder faces mostly use cross-shape layout or X-type layout, the X-type unlike cross-shape layout
Layout needs torque to be assigned to four rudder faces having rotated after 45 °.But either any rudder face layout, all exist
The problem of vertical sections AUV are not always overlapped with earth coordinates vertical plane, therefore fixed torque and rudder angle distribution method can be made
It is lost at certain error and mobility, depth when turning is especially brought to fluctuate.
Invention content
In order to solve the problems existing in the prior art, the present invention proposes a kind of using cross rudder face layout, simultaneously for arbitrary
The AUV four-way coupling control methods being all suitable under roll angle.Respective execution mechanisms instruction, control are calculated by the control method
AUV steady steamings and effective operation.AUV control methods include mainly：AUV indulges plane motion control algolithm, AUV horizontal plane motions
Control algolithm, AUV control of sideward roll algorithm, AUV rudder angles allocation algorithm, AUV speed control algorithms.
The technical scheme is that：
A kind of Autonomous Underwater Vehicle four-way coupling control method, it is characterised in that：Include the following steps：
Step 1：Calculate separately vertical plane control torque, horizontal plane control moment and control of sideward roll torque：
AUV indulges plane motion control and uses AUV deep-controlled, according to the depth of each controlling cycle measurements of AUV, pitch angle
And rate of pitch, it carries out mixing according to following formula and vertical plane control torque is calculated：
Wherein depth, depthrefAnd deptherrRespectively depth, reference depth and depth error；θ and ωzRespectively
Pitch angle and rate of pitch；αfFor AUV free angles；kpd、kid、kpθAnd kdθRespectively depth scale coefficient, depth integration system
Number, pitch angle proportionality coefficient and pitch angle differential coefficient；LeTo indulge plane control torque；
The control of AUV horizontal plane motions is controlled using AUV course angles, according to the course angle of each period measurements of AUV and course
Horizontal plane control moment is calculated by mixing according to following formula in angular speed：
Wherein ψ, ψrefAnd ψerrRespectively course angle, with reference to course angle and course angle error；ωyFor course angular speed；kpψ
And kdψRespectively course angle proportionality coefficient and course angle differential coefficient；LrFor horizontal plane control moment；
AUV control of sideward roll is controlled using AUV roll angles, according to the roll angle and roll angular speed of each period measurements of AUV,
Roll angle control moment is calculated by mixing according to following formula：
WhereinAnd ωxRespectively roll angle and roll angular speed；WithRespectively roll angle proportionality coefficient and roll
Angle differential coefficient；LdFor control of sideward roll torque；
Step 2：Vertical plane control torque, horizontal plane control moment and the control of sideward roll torque being calculated according to step 1,
AUV rudder angle distribution is carried out using following formula, by vertical plane control torque, horizontal plane control moment and control of sideward roll Torque distribution
Onto four rudder faces of AUV, the control moment needed is generated by rudder face：
Wherein, D=[du dd dl dr]TFor four, the upper and lower, left and right AUV rudder angle value；kLDFor torque rudder angle conversion coefficient；
For the modified rudder angle allocation matrix of roll angle is added；
Step 3：AUV speed controls calculate rotary speed instruction using following formula, adjust the rotating speed control of AUV main propulsion motors
The speed of AUV：
Wherein F is that speed is mapped with rotating speed correspondence；vrFor reference velocity；For kth time velocity error；keFor error
Integral coefficient；R is rotary speed instruction；
Step 4：Rudder angle and rotary speed instruction that step 2 and step 3 obtain are sent to AUV executing agencies to execute.
Advantageous effect
1, the present invention is made single-blade that cross rudder type AUV be added to pass through periodically control rudder angle and rotating speed, is realized by control algolithm
AUV steady steamings.
2, the rudder angle allocation algorithm used in the present invention considers the influence that AUV rolls are brought, under arbitrary roll angle
AUV be all suitable for, especially when AUV roll angle non-zeros, than traditional static rudder distribution method have better control effect.
3, the present invention is equally applicable for X-type rudder face AUV, need to be only modified slightly to rudder angle allocation matrix.
4, logic of the present invention is simple, and calculation amount is small, easy to implement.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Figure 1A UV platform schematic diagrames
Fig. 2 control method flow charts of the present invention
Fig. 3 AUV ship trajectory curves
Fig. 4 AUV navigate by water posture angular curve
Fig. 5 AUV keel depth curves
Fig. 6 AUV headway curves
Specific implementation mode
Present invention proposition is a kind of to be laid out using cross rudder face, simultaneously for the AUV four-ways being all suitable under arbitrary roll angle
Coupling control method.Respective execution mechanisms instruction is calculated by the control method, controls AUV steady steamings and effective operation.Tool
Body includes the following steps：
Step 1：Calculate separately vertical plane control torque, horizontal plane control moment and control of sideward roll torque：
AUV indulges plane motion control and uses AUV deep-controlled, according to the depth of each controlling cycle measurements of AUV, pitch angle
And rate of pitch, it carries out mixing according to following formula and vertical plane control torque is calculated：
Wherein depth, depthrefAnd deptherrRespectively depth, reference depth and depth error；θ and ωzRespectively
Pitch angle and rate of pitch；αfFor AUV free angles；kpd、kid、kpθAnd kdθRespectively depth scale coefficient, depth integration system
Number, pitch angle proportionality coefficient and pitch angle differential coefficient；LeTo indulge plane control torque；
The control of AUV horizontal plane motions is controlled using AUV course angles, according to the course angle of each period measurements of AUV and course
Horizontal plane control moment is calculated by mixing according to following formula in angular speed：
Wherein ψ, ψrefAnd ψerrRespectively course angle, with reference to course angle and course angle error；ωyFor course angular speed；kpψ
And kdψRespectively course angle proportionality coefficient and course angle differential coefficient；LrFor horizontal plane control moment；
AUV control of sideward roll is controlled using AUV roll angles, according to the roll angle and roll angular speed of each period measurements of AUV,
Roll angle control moment is calculated by mixing according to following formula：
WhereinAnd ωxRespectively roll angle and roll angular speed；WithRespectively roll angle proportionality coefficient and roll
Angle differential coefficient；LdFor control of sideward roll torque；
Step 2：Vertical plane control torque, horizontal plane control moment and the control of sideward roll torque being calculated according to step 1,
AUV rudder angle distribution is carried out using following formula, by vertical plane control torque, horizontal plane control moment and control of sideward roll Torque distribution
Onto four rudder faces of AUV, the control moment needed is generated by rudder face：
Wherein, D=[du dd dl dr]TFor four, the upper and lower, left and right AUV rudder angle value；kLDFor torque rudder angle conversion coefficient；
For the modified rudder angle allocation matrix of roll angle is added；
Step 3：AUV speed controls calculate rotary speed instruction using following formula, adjust the rotating speed control of AUV main propulsion motors
The speed of AUV：
Wherein F is that speed is mapped with rotating speed correspondence, can be obtained by testing；vrFor reference velocity；For kth time
Velocity error；keFor error intergal coefficient；R is rotary speed instruction；
Step 4：Rudder angle and rotary speed instruction that step 2 and step 3 obtain are sent to AUV executing agencies to execute.
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to for explaining the present invention, and
It is not considered as limiting the invention.
Portable autonomous submarine navigation device is as shown in Figure 1, the stern of AUV installs propeller and four rudder faces, using cross
Shape rudder face is laid out.Control flow is achieved by the following scheme：
AUV control method flow charts are illustrated in figure 2, when new controlling cycle starts, posture is obtained respectively first and passes
Sensor and depth transducer data, each data are filtered；Then vertical plane control calculating, horizontal plane control are carried out respectively
System calculates and control of sideward roll calculates；Rudder angle distribution is carried out later to calculate, and control moment is assigned on four rudder faces, steering is obtained
Angle；Then acquisition speed sensor information carries out speed control calculating after being filtered, and obtains control rotary speed instruction；Most
Rudder angle and rotary speed instruction are sent to executing agency afterwards to execute, this controlling cycle terminates.
During the autonomous navigation of entire AUV, above-mentioned control flow is constantly repeated within each period.Attached drawing 3,4,
5,6 be respectively ship trajectory curve in real navigation of AUV, AUV navigation posture angular curve, AUV keel depths curve and
AUV headway curves.This navigation mission bit stream be：
Way point：1. east longitude 111 ° 36 ' 0 " 32 ° 46 ' 300 of north latitude "
2. east longitude 111 ° 33 ' 0 " 32 ° 46 ' 300 of north latitude "
3. east longitude 111 ° 33 ' 0 " 32 ° 43 ' 300 of north latitude "
4. east longitude 111 ° 34 ' 12.9 " 32 ° 45 ' 08.3 of north latitude "
Keel depth：5m；Headway：2m/s
It can show that aircraft flight is stable and navigation curve follows default navigational parameter from navigation curve.Therefore by real
It verifies this control method and stablizes effective, course, depth and the speed of the control AUV that can stablize.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case of can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (1)
1. a kind of Autonomous Underwater Vehicle four-way coupling control method, it is characterised in that：Include the following steps：
Step 1：Calculate separately vertical plane control torque, horizontal plane control moment and control of sideward roll torque：
AUV indulges plane motion control and uses AUV deep-controlled, according to the depth of each controlling cycle measurements of AUV, pitch angle and bows
Elevation angle speed carries out mixing according to following formula and vertical plane control torque is calculated：
Wherein depth, depthrefAnd deptherrRespectively depth, reference depth and depth error；θ and ωzRespectively pitch angle
And rate of pitch；αfFor AUV free angles；kpd、kid、kpθAnd kdθRespectively depth scale coefficient, depth integral coefficient, pitching
Angle proportionality coefficient and pitch angle differential coefficient；LeTo indulge plane control torque；
The control of AUV horizontal plane motions is controlled using AUV course angles, according to the course angle of each period measurements of AUV and course angle speed
Degree, horizontal plane control moment is calculated according to following formula by mixing：
Wherein ψ, ψrefAnd ψerrRespectively course angle, with reference to course angle and course angle error；ωyFor course angular speed；kpψAnd kdψ
Respectively course angle proportionality coefficient and course angle differential coefficient；LrFor horizontal plane control moment；
AUV control of sideward roll is controlled using AUV roll angles, according to the roll angle and roll angular speed of each period measurements of AUV, according to
Roll angle control moment is calculated by mixing in following formula：
WhereinAnd ωxRespectively roll angle and roll angular speed；WithRespectively roll angle proportionality coefficient and roll angle are micro-
Divide coefficient；LdFor control of sideward roll torque；
Step 2：Vertical plane control torque, horizontal plane control moment and the control of sideward roll torque being calculated according to step 1 use
Following formula carries out AUV rudder angle distribution, and vertical plane control torque, horizontal plane control moment and control of sideward roll Torque distribution are arrived
On four rudder faces of AUV, the control moment needed is generated by rudder face：
Wherein, D=[du dd dl dr]TFor four, the upper and lower, left and right AUV rudder angle value；kLDFor torque rudder angle conversion coefficient；
For the modified rudder angle allocation matrix of roll angle is added；
Step 3：AUV speed controls calculate rotary speed instruction using following formula, and the rotating speed for adjusting AUV main propulsion motors controls AUV
Speed：
Wherein F is that speed is mapped with rotating speed correspondence；vrFor reference velocity；For kth time velocity error；keFor error intergal
Coefficient；R is rotary speed instruction；
Step 4：Rudder angle and rotary speed instruction that step 2 and step 3 obtain are sent to AUV executing agencies to execute.
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Cited By (3)
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| CN110209181A (en) * | 2019-05-06 | 2019-09-06 | 西北工业大学深圳研究院 | A kind of underwater cleaning robot based on rangefinder independently erects land ship side control method |
| CN112591060A (en) * | 2020-12-23 | 2021-04-02 | 中国船舶重工集团有限公司第七一0研究所 | X-shaped rudder control method for underwater autonomous vehicle |
| CN116774715A (en) * | 2023-05-31 | 2023-09-19 | 新兴际华(北京)智能装备技术研究院有限公司 | Underwater vehicle attitude control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110209181A (en) * | 2019-05-06 | 2019-09-06 | 西北工业大学深圳研究院 | A kind of underwater cleaning robot based on rangefinder independently erects land ship side control method |
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| CN112591060A (en) * | 2020-12-23 | 2021-04-02 | 中国船舶重工集团有限公司第七一0研究所 | X-shaped rudder control method for underwater autonomous vehicle |
| CN116774715A (en) * | 2023-05-31 | 2023-09-19 | 新兴际华(北京)智能装备技术研究院有限公司 | Underwater vehicle attitude control method and device |
| CN116774715B (en) * | 2023-05-31 | 2024-06-07 | 新兴际华(北京)智能装备技术研究院有限公司 | Underwater vehicle attitude control method and device |
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