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A trajectory tracking control method for submarine flight nodes

A trajectory tracking and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of difficult to achieve overshoot limit, preset arbitrary precision tracking of error convergence time, lack of trajectory tracking error Convergence dynamic process control capabilities and other issues

Active Publication Date: 2021-10-29
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problems that the existing methods lack the ability to control the dynamic process of trajectory tracking error convergence, and it is difficult to realize the overshoot limit, the preset error convergence time and the tracking of arbitrary precision, and propose a submarine flight node Trajectory Tracking Control Method

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  • A trajectory tracking control method for submarine flight nodes
  • A trajectory tracking control method for submarine flight nodes
  • A trajectory tracking control method for submarine flight nodes

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specific Embodiment approach 1

[0028] Specific implementation mode one: the specific process of a trajectory tracking control method of a submarine flight node in this embodiment is as follows:

[0029] Step 1, establishing a dynamic model of OBFN based on the Fossen outline six-degree-of-freedom nonlinear model;

[0030] Inertial coordinate system (E-ξηζ): The origin E can be selected at a certain point on the sea surface, the Eξ axis and Eη axis are placed in the horizontal plane and are perpendicular to each other, and the Eξ axis is positively pointing to the true north. Eζ is perpendicular to the Eξη plane, pointing to the center of the earth.

[0031] Motion coordinate system (G-xyz): The origin G is taken at the center of gravity of the OBFN, and the x-axis, y-axis and z-axis are respectively the intersection lines of the waterplane, transverse section and mid-longitudinal section passing through the origin.

[0032] The dynamic model of OBFN can be represented by a six-degree-of-freedom nonlinear m...

specific Embodiment approach 2

[0043] Specific embodiment two: the difference between this embodiment and specific embodiment one is: in the step one

[0044] M's derived variable M η = MJ -1 , J is the conversion matrix between the fixed coordinate system and the moving coordinate system;

[0045] C RB export variable of is the first derivative of J, v is the velocity and angular velocity of OBFN in the motion coordinate system, v=[u′,a,w,p,q,r] T ,

[0046] In the formula, u′ is the surge velocity of OBFN in the motion coordinate system, a is the sway velocity of OBFN in the motion coordinate system, w is the heave velocity of OBFN in the motion coordinate system, p is the heel angular velocity of OBFN in the motion coordinate system , q is the pitch angular velocity of the OBFN in the motion coordinate system, r is the roll angular velocity of the OBFN in the motion coordinate system, and the superscript T is the matrix transposition symbol;

[0047] C A The exported variable C Aη =C A (v r ...

specific Embodiment approach 3

[0053] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that: in the step two, the dynamic model of the OBFN established in step one is transformed to obtain a model that considers ocean current disturbance and modeling uncertainty. and a transformed OBFN dynamics model of the thruster failure effects;

[0054] Aiming at the model uncertainty, ocean current disturbance, and propeller failure considered in the patent of the present invention, consider its feasible mathematical expression.

[0055] The fault effect of thrusters of OBFN can be expressed in the form of thrust distribution matrix, which is defined as ΔB[3] (WangY, Zhang M, Wilson P A, et al. Adaptive neural network-based backstepping fault tolerant control for underwater vehicles with thruster fault[J] .Ocean Engineering, 2015, 110:15-24.);

[0056] The actual control force and moment of the propeller of OBFN can be rewritten as τ+Δτ:

[0057] τ+Δτ=(B 0 -KB)...

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Abstract

A trajectory tracking control method for a submarine flight node, the invention relates to a trajectory tracking control method for a submarine flight node. The purpose of the present invention is to solve the problem that the existing method lacks the control ability of the trajectory tracking error convergence dynamic process, and it is difficult to realize the overshoot limit, the preset of the error convergence time and the tracking of arbitrary precision. The specific process is as follows: 1. Establish the OBFN dynamic model based on the Fossen outline six-degree-of-freedom nonlinear model; 2. Transform the OBFN dynamic model established in 1 to obtain the transformed OBFN dynamic model; 3. Define the performance function; four: according to the performance function defined in three, the dynamic model of the transformed OBFN obtained in the second is subjected to error transformation; five, selecting radial basis function neural network parameters; six, designing an adaptive trajectory tracking controller based on four and five . The invention is used in the field of trajectory tracking control of seabed flight nodes.

Description

technical field [0001] The invention relates to a trajectory tracking control method of a seabed flight node. Background technique [0002] In recent years, autonomous underwater vehicles (AUVs) have been widely used in research fields such as marine environment observation and military intelligence collection. With the strengthening of ocean development, the application of AUV has gradually expanded from observation to light operation. For example, the inspection of underwater infrastructure, deep-sea oil and gas exploration and so on. Among them, the Ocean bottom flying node (OBFN) is a kind of expanded AUV, which is equipped with a seismometer and can be deployed on the seabed surface on a large scale for deep-sea oil and gas resource exploration, such as figure 1 shown. [0003] Trajectory tracking is a basic function of AUV control system, but due to highly nonlinear, cross-coupled system dynamics and unpredictable complex underwater environment, large model uncertai...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙延超秦洪德吴哲远陈辉李凌宇杜雨桐李骋鹏
Owner HARBIN ENG UNIV
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