Abstract
This paper focuses on the omnidirectional drive characteristics and autonomous control of the underwater saucer glider under the condition of underactuated and multiconstraints. Firstly, the dynamic model of the underwater saucer glider is established, and the underactuated control characteristics and the plane biaxial symmetry structure characteristics of the underwater saucer glider are analyzed. An omnidirectional drive mechanism with four water jet thrusters is designed, and the omnidirectional control power output equation is given. Secondly, a nonlinear active disturbance rejection controller is designed, and a visual simulation platform of UUVs based on MATLAB + MFC is established. Through a large number of numerical tests, the reliability and effectiveness of the control strategy are verified, and the smooth operation of the underwater saucer glider in the dynamic process of three-dimensional space is realized.
Highlights
With the development of marine science and technology at home and abroad, the use of underwater unmanned vehicles such as underwater gliders and AUVs for marine environment observation and marine resource survey has become a general trend [1, 2]
There is no propeller and rudder, the underwater glider can only control the position of gravity's center through a mass control system inside the platform [4], so as to realize the adjustment of the pitch and roll angles, combined with the underwater glider course adjustments of buoyancy adjustment, the underwater glider heading and attitude control is internal quality control system and the buoyancy adjusting system coupling motion [5], Its essence is to use the metamorphic center moment control method. e core of the metamorphic center moment control method [6] is to adjust the attitude of the vehicle by changing the vehicle center, changing the dynamic moment and the position of the gravity center of the body, so as to complete the movement maneuver
With the development of metamorphic center moment control technology, its application field is expanding, and the metamorphic center idea is gradually introduced into the control of the underwater vehicle. e deformed center control of the Graver underwater vehicle at Princeton University has been systematically studied, and a motion model of the underwater vehicle based on Newtonian mechanics has been established. e parameters of the vehicle have been identified through experiments, and the corresponding control system has been designed. e effective control of floating, sinking, and course change has been completed
Summary
With the development of marine science and technology at home and abroad, the use of underwater unmanned vehicles such as underwater gliders and AUVs for marine environment observation and marine resource survey has become a general trend [1, 2]. In terms of vehicle control strategy research, Hu Kun et al [7] designed a UUV depth active disturbance rejection controller based on a genetic algorithm according to the characteristics of the operation and control process of unmanned underwater vehicle (UUV) and simulated its depth control under two conditions: no external interference and Mathematical Problems in Engineering near surface navigation under wave force interference. E underwater saucer glider studied in this paper adopts the vector-arranged water jet propulsion and the metamaterial center moment structure to adjust its attitude and course, establishes the output drive equation of the saucer glider, analyzes the omnidirectional motion characteristics of the saucer glider from the mathematical mechanism, and gives the stability conditions in the course control process. Aiming at the problem of ocean current interference, a nonlinear active disturbance rejection controller was designed, and a simulation test platform was built to verify the stability of heading control under the condition of ocean current interference
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