CN-120560310-B - Longitudinal plane depth control method of hybrid drive underwater glider

CN120560310BCN 120560310 BCN120560310 BCN 120560310BCN-120560310-B

Abstract

The invention relates to intelligent control of an underwater vehicle, in particular to a longitudinal plane depth control method of a hybrid driving underwater glider, which is used for establishing a longitudinal motion mathematical model of the hybrid driving underwater glider, converting a depth control problem into a sight distance tracking problem by adopting self-adaptive sight guidance in the aspect of kinematics of the hybrid driving underwater glider and calculating a pitch angle parameter, constructing an active disturbance rejection controller which forms nonlinear state error feedback based on a tracking differentiator and an extended observer in the aspect of dynamics of the hybrid driving underwater glider, inputting the pitch angle parameter obtained by self-adaptive sight guidance calculation into the active disturbance rejection controller, outputting a pitch angle control signal by the active disturbance rejection controller to adjust the depth of the hybrid driving underwater glider in real time, and effectively overcoming the defects of lower control precision and more complex control process in the prior art.

Inventors

ZHOU HEFENG
ZHAO YAN
ZHANG PENG
TIAN ZHANGFU
ZHAO YUN
XU PAN
WANG JUN
ZHU MIN
GONG JIAJIAN

Assignees

中国人民解放军国防科技大学

Dates

Publication Date: 20260512
Application Date: 20250526

Claims (4)

1. A longitudinal plane depth control method of a hybrid drive underwater glider is characterized by comprising the following steps: s1, establishing a longitudinal motion mathematical model of the hybrid drive underwater glider; S2, for the kinematic aspect of the hybrid drive underwater glider, the depth control problem is converted into the sight distance tracking problem by adopting self-adaptive sight guidance, and pitch angle parameters are calculated, wherein the method specifically comprises the following steps of: S21, calculating the included angle between the expected track P k P k+1 and the longitudinal axis of the geodetic coordinate system in the geodetic coordinate system : ; Where (x k ,y k ) is the position coordinate of the start point P k in the desired track P k P k+1 , (x k+1 ,y k+1 ) is the position coordinate of the view point P k+1 in the desired track P k P k+1 , Representing an ATAN2 function; S22, calculating a vertical distance y e (0) between the real-time position P 0 of the glider and the expected track P k P k+1 : ; Wherein, (x 0 ,y 0 ) is the position coordinates of the glider real-time position P 0 ; s23, determining the forward looking distance between the foot drop point and the sight line point P k+1 of the real-time position P 0 of the glider on the expected track P k P k+1 ; Wherein, the forward looking distance N times the total length L' of the glider, i.e N is an integer and the value range is ; S24, calculating an actual pitch angle of the glider, namely pitch angle parameters of the glider : ; S3, constructing an active disturbance rejection controller based on nonlinear state error feedback formed by a tracking differentiator and an extended observer in the aspect of dynamics of the hybrid drive underwater glider; And S4, inputting pitch angle parameters obtained by self-adaptive line-of-sight guidance calculation into the active disturbance rejection controller, and outputting pitch angle control signals by the active disturbance rejection controller to adjust the depth of the hybrid drive underwater glider in real time.
2. The method for controlling the depth of the longitudinal plane of the hybrid drive underwater glider according to claim 1, wherein the step of establishing a mathematical model of the longitudinal motion of the hybrid drive underwater glider in S1 comprises the steps of: the longitudinal motion mathematical model of the hybrid-driven underwater glider is as follows: ; ; ; ; ; ; ; ; ; ; ; Wherein x and z are axial position components, v 1 、v 3 is the speed of the glider in the vertical and horizontal directions respectively, The pitch angle parameter of the glider is positive, and the pitch angle of the glider is negative; q is the angular velocity of the change in pitch angle, J 2 is the moment of inertia of the glider system, m 1 、m 3 is the component of the total mass of the glider, For active point mass, g is standard gravity acceleration, r P1 and r P3 are positions of the slider under a glider coordinate system, P P1 and P P3 are momentum of the glider system acting on the slider, M DL is viscous moment, u 1 is a control input of sliding mass, and u 3 is a control input of buoyancy system mass; m 0 is the net floating mass of the glider, i.e. the difference between the total mass of the glider and the water discharge mass, is positive downwards, L is the lift force exerted on the glider, D is the resistance exerted on the glider, The power angle is T, and the pitching moment of the glider is T; m b is the mass of the slide block, and u 4 is the mass change rate of the buoyancy system.
3. The method of controlling the depth of a longitudinal plane of a hybrid drive underwater glider according to claim 1, wherein the glide is required to quickly approach the desired path P k P k+1 when the glide is farther from the desired path P k P k+1 , reducing lateral errors, and wherein a smaller forward looking distance is selected When the glider is near the desired track P k P k+1 , a larger forward looking distance should be selected Slowly approaching the glider to the expected track P k P k+1 to reduce overshoot; Taking the above factors into consideration, the forward looking distance The vertical distance y e (0) is introduced into the calculation formula of (a): ; Wherein, the 、 Respectively designing the maximum and minimum forward looking distance, In order to design the coefficients of the coefficients, 。
4. The method for controlling the depth of the longitudinal plane of the hybrid drive underwater glider according to claim 1, wherein the step S3 of constructing the active disturbance rejection controller based on the tracking differentiator and the dilation observer to form nonlinear state error feedback on the dynamics aspect of the hybrid drive underwater glider comprises the following steps: S31, constructing a tracking differentiator based on tangent Sigmoid function optimization for the tracking differentiator, and calculating the pitch angle parameter of the glider in the S2 Considering v (t), the second order nonlinear system derived tracking differentiator is denoted as: ; ; ; ; Wherein v 1 (t)、v 1 (t+1) is a tracking signal obtained by smoothing an input signal by a t and t+1 time tracking differentiator, v 2 (t)、v 2 (t+1) is a differentiated signal of a t time tracking signal v 1 (t) and a t+1 time tracking signal v 1 (t+1), respectively, for representing information about a change of the input signal, h is a sampling period, tansig represents a tangent Sigmoid function, ; K 0 、l 1 、l 2 , p and When the parameters required to be regulated for the tracking differentiator are increased, the bandwidth frequency of the system is increased, the response speed of the tracking differentiator to an input signal is increased, the capability of tracking the input signal is enhanced, but the inhibiting capability of the tracking differentiator to high-frequency noise is weakened; when the tracking differential device is increased, the tracking precision of the tracking differential device is improved to a certain extent; s32, for the dilation observer, based on the effect of online estimation of internal nonlinear dynamics and external disturbance, adopting a third-order dilation observer: ; ; ; ; Where e is the control error, z 1 and z 2 are the state variables of the glider, y is the system output, z 3 is the real-time influencing variable of the unknown disturbance and uncertainty model, u (t) is the control input, b is the predefined parameter, 、 And The damping coefficient of the third-order expansion observer; f 1 and f 2 represent fal functions: ; In the above-mentioned method, the step of, In order to expand the gain factor of the observer, Bandwidth parameters for the dilation observer; In the extensional observer, z 3 (t) is able to track the real-time influencing variable of acceleration in an open loop system, if the system has observability and acceleration is acting in it, the effect will be reflected in the system output, thus extracting the action variable from the system output, when the predefined parameter b is known, the control input u (t) is considered as: ; Wherein u 0 is an initial variable, namely a nonlinear state error feedback law; S33, the nonlinear state error feedback takes the output of the extended observer as a state feedback variable of the active disturbance rejection controller, compares the state feedback variable with the output of the tracking differentiator, and the nonlinear state error feedback law u 0 is as follows: ; Wherein e 1 、e 2 is the component of the control error e, And To control the gain.

Description

Longitudinal plane depth control method of hybrid drive underwater glider Technical Field The invention relates to intelligent control of an underwater vehicle, in particular to a longitudinal plane depth control method of a hybrid drive underwater glider. Background The hybrid-driven underwater glider is a novel underwater vehicle developed by combining the underwater glider with the underwater autonomous robot technology and is mainly characterized in that conventional glider motion control does not depend on a propulsion system, the upward and downward floating motion is realized by adjusting the net buoyancy of the glider, the glider is controlled to glide forwards by utilizing the obliquely upward or obliquely downward force generated by a horizontal wing attached to a machine body, and the hybrid-driven motion mode can generate power through a propeller so as to quickly pass through a certain area or realize fixed-depth navigation. The hybrid driving underwater glider overcomes the defects of high power and short sailing time of an underwater vehicle, prolongs the endurance time, greatly reduces the manufacturing cost and the running cost, and has high practical value in the fields of military and ocean exploration research and the like. The longitudinal plane movement of the hybrid-driven underwater glider is easily influenced by ocean currents and waves, meanwhile, the machine body structure is complex, a dynamics model is caused to be strong in nonlinearity, accurate model parameters are difficult to obtain, and models constructed under different water area environments also lack universality. Although many conventional control methods can realize the longitudinal plane depth control to some extent, the control accuracy of these conventional control methods is low and the control process is complicated. Disclosure of Invention (One) solving the technical problems Aiming at the defects existing in the prior art, the invention provides a longitudinal plane depth control method of a hybrid drive underwater glider, which can effectively overcome the defects of lower control precision and more complex control process existing in the prior art. (II) technical scheme In order to achieve the above purpose, the invention is realized by the following technical scheme: a longitudinal plane depth control method of a hybrid drive underwater glider comprises the following steps: s1, establishing a longitudinal motion mathematical model of the hybrid drive underwater glider; S2, for the kinematic aspect of the hybrid drive underwater glider, the self-adaptive line-of-sight guidance is adopted to convert the depth control problem into the line-of-sight distance tracking problem, and pitch angle parameters are calculated; s3, constructing an active disturbance rejection controller based on nonlinear state error feedback formed by a tracking differentiator and an extended observer in the aspect of dynamics of the hybrid drive underwater glider; And S4, inputting pitch angle parameters obtained by self-adaptive line-of-sight guidance calculation into the active disturbance rejection controller, and outputting pitch angle control signals by the active disturbance rejection controller to adjust the depth of the hybrid drive underwater glider in real time. Preferably, the building of the longitudinal motion mathematical model of the hybrid drive underwater glider in S1 comprises: the longitudinal motion mathematical model of the hybrid-driven underwater glider is as follows: ; ; ; ; ; ; ; ; ; ; ; Wherein x and z are axial position components, v 1、v3 is the speed of the glider in the vertical and horizontal directions respectively, The pitch angle parameter of the glider is positive, and the pitch angle of the glider is negative; q is the angular velocity of the change in pitch angle, J 2 is the moment of inertia of the glider system, m 1、m3 is the component of the total mass of the glider, For active point mass, g is standard gravity acceleration, r P1 and r P3 are positions of the slider under a glider coordinate system, P P1 and P P3 are momentum of the glider system acting on the slider, M DL is viscous moment, u 1 is a control input of sliding mass, and u 3 is a control input of buoyancy system mass; m 0 is the net floating mass of the glider, i.e. the difference between the total mass of the glider and the water discharge mass, is positive downwards, L is the lift force exerted on the glider, D is the resistance exerted on the glider, The power angle is T, and the pitching moment of the glider is T; m b is the mass of the slide block, and u 3 is the mass change rate of the buoyancy system. Preferably, in S2, for the kinematic aspect of the hybrid driving underwater glider, the adaptive line-of-sight guidance is adopted to convert the depth control problem into the line-of-sight distance tracking problem, and the pitch angle parameter is calculated, including: S21, calculating the included angle between the expected