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A Design Method of Variable Structure Synthetic Controller for Reducing Auv Roll and Pitch

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: 2022-07-15
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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  • A Design Method of Variable Structure Synthetic Controller for Reducing Auv Roll and Pitch
  • A Design Method of Variable Structure Synthetic Controller for Reducing Auv Roll and Pitch
  • A Design Method of Variable Structure Synthetic Controller for Reducing Auv Roll and Pitch

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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 a comprehensive control method for actively reducing the rolling and pitching motions of the AUV under water surface navigation, proposes a horizontal rudder adopting the principle of zero-speed anti-rolling fin lift, and designs an improved variable structure comprehensive controller , to reduce the roll and pitch motions under different wave disturbances.

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

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Abstract

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 the roll and pitch of an AUV. The horizontal rudder based on the working principle of the zero-speed fin stabilizer can realize the active anti-rolling of the roll and pitch motions when sailing at low speed. And considering the six-degree-of-freedom nonlinearity and coupled motion of the underwater vehicle and the working principle of the horizontal rudder, an improved variable structure controller is designed to further improve the approaching speed of the approaching process in the sliding mode control and eliminate the slippage. The chattering phenomenon of the mode control system can be greatly reduced by the improved sliding mode integrated controller under different wave disturbances. The analysis of the simulation results shows that the present invention can effectively reduce the rolling and pitching motion of the underwater vehicle.

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 the roll and pitch of an AUV. Background technique [0002] When underwater vehicles are sailing at low speed near the water surface, they will produce violent rolling, pitching, and heave motions due to the influence of waves, winds and currents. These disturbances seriously affect the normal operation and safety of underwater vehicles. In order to improve the anti-interference ability of the underwater vehicle, a horizontal rudder based on the principle of zero-speed fin lift is proposed to reduce the roll and pitch of the underwater vehicle. The horizontal rudder based on the working principle of the zero-speed fin stabilizer can realize the active anti-rolling of the roll and pitch motions when sailing at low speed. According to the six-degree-of-freedom motion of ...

Claims

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Application Information

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Patent Type & Authority Patents(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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