Fully-actuated autonomous underwater vehicle structure and recovery three-dimensional path trac method

An underwater robot and path tracking technology, applied in underwater operation equipment, three-dimensional position/channel control, instruments, etc., can solve problems such as chattering problems that are difficult to eliminate, fuzzy controller parameters are difficult, and tracking accuracy is poor.

Active Publication Date: 2018-12-21
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

Although the fuzzy control algorithm has the characteristics of strong robustness and strong anti-interference, it is difficult to directly determine the parameters of the fuzzy controller; the sliding mode control algorithm does not depend on the system model, but the chattering problem caused by the system itself is difficult to eliminate, affecting The control accuracy of the system is improved
The patent document with the application number "201210490435.X" discloses a "trajectory tracking sliding mode control system and control method for a spraying mobile robot". The chattering problem caused by sliding mode control has not been solved, and the tracking accuracy is relatively low. Poor; the patent document with the application number "201610835447.X" discloses "a UUV path tracking method based on adaptive sliding mode control", which combines sliding mode control with adaptive control, but the controller still has Inertia and Uncertainty Dependence

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  • Fully-actuated autonomous underwater vehicle structure and recovery three-dimensional path trac method
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  • Fully-actuated autonomous underwater vehicle structure and recovery three-dimensional path trac method

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Embodiment Construction

[0067] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0068] Such as figure 1 As shown, the structure of the fully driven autonomous underwater robot includes five parts: bow section 2, bow propulsion section 7, electronic cabin section 12, stern propulsion section 15 and main propulsion section 18; The bow propulsion section 7, the bow propulsion section 7 and the electronic compartment section 12, the electronic compartment section 12 and the stern propulsion section 15, and the stern propulsion section 15 and the main propulsion section 18 are concentrically sealed and connected; the bow section 2 includes a detector 1 , the collision avoidance sonar 4 and the bow section shell 3, the detector 1 is installed on the front of the bow section 2 through sealing, the collision avoidance sonar 4 is installed on the upper part of the bow section 2 through a watertight connector, and the bow section sh...

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Abstract

The invention discloses a fully-driven autonomous underwater vehicle structure and a recovery three-dimensional path tracking method, which provides a three-stage recovery three-dimensional path tracking method and an improved non-singular terminal fuzzy sliding mode control algorithm for a robot recovery straight-line homing stage and a straight-line tracking stage. The three-dimensional path tracking method divides the recovery path into three segments, and transforms each segment of the curve into a sequence of spatial discrete points to track and control it. In the sliding mode control, the improved fuzzy sliding mode algorithm of non-singular terminal is designed to realize multiple sliding modes, and the sliding mode gain is real-time optimized by the fuzzy algorithm, so that the target point can be tracked quickly and steadily, the 3D path tracking performance can be enhanced, and the recovery success rate can be improved.

Description

technical field [0001] The invention relates to an autonomous underwater robot, in particular to a fully driven autonomous underwater robot structure and a method for recovering a three-dimensional path tracking stage, belonging to the technical field of robot control. Background technique [0002] With the continuous development of information technology, autonomous underwater unmanned vehicle (AUV), as one of the powerful tools for exploring ocean space, plays an increasingly important role in military and scientific research. Future AUVs will require longer underwater working time, greater autonomy, stealthier intelligence gathering capabilities, faster data analysis speeds, and stronger communication capabilities. The realization of these goals is mainly limited by two factors: self-carrying energy and underwater communication. Since there has been no breakthrough in battery technology for decades, the underwater working time of AUVs is still very short, requiring frequ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52G05D1/10G05B13/04
CPCB63C11/52G05B13/0275G05B13/042G05D1/10
Inventor 曾庆军姚金艺朱志宇马国军戴文文
Owner JIANGSU UNIV OF SCI & TECH
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