Track control method of cableless autonomous underwater vehicle (AUV)

Abstract

The invention relates to a navigation control technology for a cableless autonomous underwater vehicle (AUV). A control method comprises the following steps of: calculating a distance deltaS between the current position of the underwater vehicle and a planned path; substituting the distance deltaS into a PID (Proportion Integration Differentiation) algorithm to obtain control quantity deltaS control of a navigation path offset; calculating navigation control quantity deltaH control of the underwater vehicle reaching a target point; and distributing the sum of the control quantity deltaS control and the navigation control quantity deltaH control serving as a total control quantity to each propeller motor according to the propeller arrangement situation of the underwater vehicle to realize track control over the underwater vehicle. According to the method, accurate track control over the cableless AUV can be realized under an ocean current situation, the distance between the practical track of the AUV and the planned path can be controlled within two meters during stable navigation, and navigation guarantee is provided for accurate completion of a track tracking task by the cableless AUV.

Description

technical field [0001] The present invention relates to a navigation control technology of a cableless autonomous underwater vehicle (AUV, Autonomous Underwater Vehicle), specifically a track control method of a cableless autonomous underwater vehicle. The main control computer adopts an appropriate control method, So that the untethered autonomous underwater vehicle can accurately navigate along the planned path. Background technique [0002] In the past, the untethered autonomous underwater vehicle usually used the target point closed-loop method to sail according to the predetermined route, that is, the target heading angle always pointed to the navigation target point, such as figure 1 As shown in the figure, AB represents the planned path, B is the target point of the navigation path, L represents the track of the AUV when navigating in still waters, and L1 represents the track achieved by the previous closed-loop control method of the target point in the presence of oc...

AI Technical Summary

Problems solved by technology

[0002] In the past, the untethered autonomous underwater vehicle usually used the target point closed-loop method to sail according to the predetermined route, that is, the target heading angle always pointed to the navigation target point, such as figure 1 As shown in the figure, AB represents the planned path, B is the target point of the navigation path, L represents the track of the AUV when navigating in still waters, and L1 represents the track achieved by the previous closed-loop control method of the target point in the presence of ocean currents ; If sailing according to the track, the underwater vehicle will deviate from the planned path under the action of ocean currents, and cannot complete the task of precise tracking of the track. The cable autonomous underwater vehicle sails in strict accordance with the planned route

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