Stem-stern joint steering depth control strategy of underwater vehicle and PID controller thereof

Abstract

The invention, which belongs to the field of automatic control, discloses a stem-stern joint steering depth control strategy of an underwater vehicle and a PID controller thereof. In order to solve aproblem of strong non-linear coupling between a depth channel and a longitudinally inclined channel during underwater vehicle controlling by using a stem rudder and a stern rudder, the invention putsforward a stem-stern joint steering control strategy based on the nonlinear coupling characteristic with full consideration of the strong nonlinear coupling characteristic between the stem rudder andthe stern rudder. A stem-stern joint control law of a depth channel and a stem-stern joint control law of a longitudinally inclined channel are extracted; a coupled equation set is established; and then the coupled equation set is solved to obtain respective control laws of the stem rudder and the stern rudder, thereby realizing depth controlling of an underwater vehicle having the stem rudder andthe stern rudder. Therefore, a problem of strong non-linear coupling between a depth channel and a longitudinally inclined channel during the depth controlling of the stem rudder and the stern rudderis solved theoretically; the designed controller is close to the engineering reality; and the good control effect is realized.

Description

technical field [0001] The invention belongs to the field of automatic control, and more specifically relates to a combined bow and stern steering control strategy and its PID controller for depth control of an underwater vehicle with both a bow rudder and a stern rudder. Background technique [0002] As a powerful tool for exploring the ocean, underwater vehicles have been paid more and more attention by people. Now they have gradually become an important branch of the field of intelligent vehicles. important role. The depth control of an underwater vehicle is an important basis for its completion of various tasks. In depth control, the steering strategy as a key content has been a research hotspot in the industry in recent years. Many scholars have also proposed various steering strategies. It is used for the depth control of the vertical plane of underwater vehicles. Typical steering strategies include: single bow rudder steering, single stern rudder steering, bow rudder...

AI Technical Summary

Problems solved by technology

These steering strategies are also widely used in engineering, but because the strong nonlinear coupling between the depth channel and the pitch channel of the bow rudder and stern rudder is generally ignored, the control effect in engineering applications Often unsatisfactory, this has led to a greatly limited range of applications for underwater vehicles

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