Motion control method of manned submersible

Abstract

The invention discloses a motion control method of a manned submersible. The motion control method comprises the following steps: establishing a kinetic model of the manned submersible according to position information and attitude information of the manned submersible and received composite interference information; simplifying the kinetic model of the manned submersible; constructing an extendedstate observer, and acquiring an estimated value of the composite interference information by using the extended state observer; designing a sliding mode controller by adopting a full-order nonsingular terminal sliding mode; and controlling and distributing the thrust of the manned submersible according to the sliding mode controller and a quadratic programming method. According to the method, the operation control robustness of the submersible can be effectively improved, a buffeting phenomenon is avoided, meanwhile, the thrust control distribution of the submersible can be well carried out,and the energy consumption is reduced.

Description

technical field [0001] The invention relates to the technical field of motion control of a manned submersible, in particular to a motion control method of a manned submersible. Background technique [0002] Existing manned submersibles usually use the PID control method for motion control, and directly obtain the pseudo-inverse of the control matrix to distribute the thrust to the control effect, but the robustness of the above-mentioned control method is not strong, but has a strong robustness The inherent sliding mode control algorithm also has the problem of chattering, and the above-mentioned thrust distribution method consumes a lot of energy, which is easy to cause waste of resources and cannot meet the use requirements. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a motion control method for a manned submersible, which can effectively improve the robustness of the operation control of the submersible an...

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Problems solved by technology

[0002] Existing manned submersibles usually use the PID control method for motion control, and directly obtain the pseudo-inverse of the control matrix to distribute the thrust to the control effect, but the robustness of the above-mentioned control method is not strong, but has a strong robustness The inherent sliding mode control algorithm also has the problem of chattering, and the above-mentioned thrust distribution method consumes a lot of energy, which is easy to cause waste of resources and cannot meet the needs of use.

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