Energy-saving control of long-range autonomous underwater vehicle vertical plane based on human simulating intelligent control method

Hao Xu,Shuo Pang,Guo-Cheng Zhang,Yu-Shan Sun

doi:10.1177/1729881420944744

Abstract

The long-range autonomous underwater vehicle is a new underwater vehicle with capability of stereoscopic observation of the ocean over a wide range of time series. This article proposed a novel control strategy for the long-range autonomous underwater vehicle considering the energy consumption. The vertical motion model of long-range autonomous underwater vehicle and the mathematical model of energy consumption of motion actuators are established in this article, and the maneuverability simulation experiments were carried out to analyze its motion and energy consumption characteristics. A hybrid controller based on human simulating intelligent control and S-plane control is designed. Considering the moment caused by the asymmetry of the hull in motion, an adaptive dynamic control allocation strategy is designed. Simulation experiments are conducted to demonstrate the performance of the scheme proposed.

Highlights

In recent years, underwater vehicles have been widely used in the fields of detection, military, and search and rescue and have played an increasingly important role.[1,2,3,4,5] due to the limited energy of the traditional underwater vehicle, underwater vehicle’s endurance time and range cannot meet the needs of underwater missions with long time series and large range.[6]
For the hybrid-driven underwater vehicle studied in this article, the resistance of autonomous underwater vehicles (AUVs) under different navigation attitudes is calculated by computational fluid dynamics (CFD) numerical simulation, which provides a basis for energy-saving controller designing
Control is divided into two parts: advanced control layer and control distribution layer

Summary

Introduction

Underwater vehicles have been widely used in the fields of detection, military, and search and rescue and have played an increasingly important role.[1,2,3,4,5] due to the limited energy of the traditional underwater vehicle, underwater vehicle’s endurance time and range cannot meet the needs of underwater missions with long time series and large range.[6]. This mode, the adjustment of the depth and pitch angle is performed only by shifting mass mechanism and the horizontal rudders. For the hybrid-driven underwater vehicle studied in this article, the resistance of AUV under different navigation attitudes is calculated by computational fluid dynamics (CFD) numerical simulation, which provides a basis for energy-saving controller designing. Human simulating intelligent controller design based on virtual control signal The main characteristic parameters in the control of AUV vertical plane motion are depth error ez and pitch angle q. The optimal dynamic control allocation expression is n o min W 1jju À usjj22þW 2jju À uðt À DtÞjj[22] s:t: Bu 1⁄4 v ð48Þ

Design of control allocation

Findings

Conclusion