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UUV control method based on T-S fuzzy observer compensation

A control method and observer technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of inaccurate track tracking

Inactive Publication Date: 2016-07-27
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The purpose of the present invention is to solve the problem of inaccurate tracking of the track when there is ocean current interference in the existing UUV control. The present invention provides a UUV control method based on T-S fuzzy observer compensation

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Embodiment Construction

[0059] In the UUV control method based on T-S fuzzy observer compensation described in this embodiment, the UUV studied in this embodiment has non-holonomic constraints such as underdrive and non-integrable acceleration, and is affected by external ocean currents, resulting in a complex model. The UUV model is equipped with a horizontal thruster on the tail to provide longitudinal thrust, a vertical rudder for heading control, and a horizontal rudder for trim or depth control. For the convenience of analysis, the following assumptions are made for the UUV model: UUV speed is non-negative, that is, the trajectory control during reverse travel is not considered; the influence of roll motion is ignored; the UUV object under consideration is symmetrical.

[0060] In the UUV motion analysis and maneuverability test, it is usually divided into two aspects: the horizontal plane and the vertical plane. The horizontal plane analysis is mainly used to investigate the UUV speed and the stab...

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Abstract

The invention relates to a UUV control method and discloses a UUV control method based on T-S fuzzy observer compensation to solve the problem that the UUV track is inaccurate under ocean current interference.The method comprises the steps that the expected track of a UUV in the next step is acquired; an attitude controller conducts error tracking according to the expected track and works out the rudder angle information of vertical rudder and diving rudder in the next step; a T-S fuzzy observer observes the UUV according to ocean current interference, the current state information of the UUV and track position error, and estimates the state information of the UUV in the next step; the thrust of a thruster in the next step is acquired with the state information of the UUV in the next step as an input signal of a speed controller; the UUV is controlled according to the rudder angle information of vertical rudder and diving rudder and the thrust, the motion state of the UUV is acquired, and then the track of the UUV is determined and whether the track coincides with the expected track is judged.The method is used for UUV tracking of underwater cables or pipelines, underwater search and rescue, deep-sea resource detection and terrain detection.

Description

Technical field [0001] The invention relates to a UUV control method, in particular to a UUV control method based on T-S fuzzy observer compensation. Background technique [0002] Unmanned underwater vehicles (UnderwaterUnmanned Vehicle, UUV) have a wide range of applications in tracking underwater cables or pipelines, underwater search and rescue, deep-sea resource detection and terrain detection, and accurate three-dimensional track tracking is an important prerequisite for realizing the above applications . Because the UUV studied by the present invention has non-holonomic constraints such as underdrive and non-integrable acceleration, and is affected by the external ocean currents, the established model is complicated. The UUV six-degree-of-freedom model used in practical applications is based on the premise of ignoring high-order terms and unmodeled dynamics. As a result, when UUV works in a complex environment, the impact of unmodeled dynamics and high-order terms increase...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05B13/04
CPCG05B13/042G05D1/10
Inventor 张勋赵晓芳时延利张宏瀚陈涛周佳加李本银
Owner HARBIN ENG UNIV
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