Snorkeling control method for cable-free autonomous underwater vehicle

Abstract

The invention relates to a snorkeling control method for a cable-free autonomous underwater vehicle. The method comprises the following steps: acquiring longitudinal inclination angle and vertical velocity signals via a sensor installed on the robot, transmitting the inclination angle and vertical velocity signals to an extended state observer as feedback signals to obtain estimated values of longitudinal inclination angle, longitudinal inclination angle rate, vertical velocity and total system disturbance, and filtering the set values of the longitudinal inclination angle and the vertical velocity via a tracking differentiator to obtain filtered tracking values and differential values; separately subtracting the longitudinal inclination angle and the differential value thereof from the estimated values of the longitudinal inclination angle and the longitudinal inclination angle rate, and then inputting the differences to a nonlinear state error feedback control law, wherein the output of the control law and the compensation of the disturbance estimated value form a longitudinal inclination angle control quantity; similarly, performing corresponding processing on the vertical velocity to obtain a vertical velocity control quantity. Thus, complete decoupling control of the longitudinal inclination angle and the vertical velocity is realized, the control requirement for snorkeling motion of the underwater vehicle at a given longitudinal inclination angle and a given vertical velocity is met, and a technical guarantee is provided for fixed point vertical section observation of the underwater vehicle.

Description

technical field [0001] The invention relates to a submersible-floating control method of a cableless autonomous underwater vehicle (AUV for short), and belongs to the technical field of underwater robot control. Background technique [0002] The underwater robot is a complex system with nonlinear, time-varying, strong coupling, large time delay and multiple degrees of freedom. Due to the complexity of hydrodynamic parameters and the constant changes of wind, waves, currents, etc., it is difficult to obtain an accurate mathematical model of AUV, making it very difficult to obtain high-precision control of AUV. The diving and floating movement of underwater robots is an example of its space movement, which is often used in fixed-point observation, underwater suspension and other situations, so it has practical significance and application value in the research of AUV space movement and control technology. [0003] With the continuous increase in the application of underwater ...

AI Technical Summary

Problems solved by technology

[0005] Therefore, researching a simple and practical underwater robot diving and floating control method, solving the problems of underactuation and strong coupling of underwater robots, and improving the anti-interference ability of underwater robots is a key practical problem that needs to be solved in the motion control of underwater robots.

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