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Design method of variable-structure integrated controller for reducing rolling and pitching of AUV

A technology of a comprehensive controller and design method, applied in non-electric variable control, attitude control, control/regulation systems, etc., can solve problems affecting the normal operation and safety of underwater vehicles, increase swing lift, and facilitate attitude control. , the effect of eliminating chattering

Active Publication Date: 2019-11-15
HARBIN ENG UNIV
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Problems solved by technology

These disturbances seriously affect the normal work and safety of underwater vehicles

Method used

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  • Design method of variable-structure integrated controller for reducing rolling and pitching of AUV
  • Design method of variable-structure integrated controller for reducing rolling and pitching of AUV
  • Design method of variable-structure integrated controller for reducing rolling and pitching of AUV

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Embodiment Construction

[0036] The present invention will be described in more detail below in conjunction with the accompanying drawings and accompanying tables.

[0037] The invention belongs to the comprehensive control method for actively reducing the rolling and pitching motions of AUVs under water surface navigation, and proposes a horizontal rudder using the principle of zero speed stabilizer fin lift, and designs an improved variable structure comprehensive controller , to reduce the rolling and pitching motions under different wave disturbances.

[0038] Fin stabilizers are one of the most effective anti-roll devices. The horizontal rudder based on the working principle of the fin stabilizer at zero speed can realize active stabilization of roll and pitch motions at low speeds. When the underwater vehicle is sailing at medium or high speed, the operating principle of the horizontal rudder is the same as that of a normal fin stabilizer, and the horizontal rudder maintains a fixed angle of at...

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Abstract

The invention belongs to the field of autonomous underwater vehicle navigation control, and particularly relates to a design method of a variable-structure integrated controller for reducing rolling and pitching of an AUV. A hydroplane based on a working principle of a zero-speed fin stabilizer can be used for actively reducing rolling and pitching motions during low-speed navigation. In consideration of six-degree-of-freedom nonlinear and coupling motions of the AUV and the working principle of the hydroplane, an improved variable-structure controller is designed, so that the approaching speed of an approaching process in sliding mode control is further improved, and the buffeting phenomenon of a sliding mode control system is eliminated; and the rolling and pitching interferences under different wave disturbances can be greatly reduced through the improved sliding mode integrated controller. By analyzing a simulation result, the rolling and pitching motions of the AUV can be effectively reduced.

Description

technical field [0001] The invention belongs to the field of navigation control of underwater vehicles, and in particular relates to a design method of a variable structure integrated controller for reducing rolling and pitching of an AUV. Background technique [0002] When underwater vehicles sail near the water surface at low speed, they will produce violent rolling, pitching, and heaving motions due to the influence of waves, sea winds, and currents. These disturbances seriously affect the normal work and safety of underwater vehicles. In order to improve the anti-interference ability of underwater vehicles, a horizontal rudder using the principle of zero-speed stabilizer fin lift is proposed to reduce the roll and pitch of underwater vehicles. The horizontal rudder based on the working principle of the fin stabilizer at zero speed can realize active stabilization of roll and pitch motions at low speeds. According to the six-degree-of-freedom motion of the underwater ve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0875
Inventor 綦志刚李冰孙伟星李洋洋陈缘潘建明
Owner HARBIN ENG UNIV
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