Research on control method of unmanned underwater vehicle dynamic positioning based on energy consumption optimization

Abstract

To satisfy the requirements of position control accuracy and allow unmanned underwater vehicle to maintain in the target zone with energy consumption as little as possible, this article proposes a flexible dynamic positioning strategy and control method, so as to extend the operating time of unmanned underwater vehicle dynamic positioning. Taking the distance between unmanned underwater vehicle and target point as the judgment condition for control method switching, this article delimits the working zone of different control levels for unmanned underwater vehicle and designs corresponding dynamic control methods for different working conditions. When unmanned underwater vehicle is far away from the target point, cuckoo search optimization method is proposed to plan the optimal motion scheme of energy consumption for the process of unmanned underwater vehicle reaching the target point. When unmanned underwater vehicle is close to the target positioning point, a flexible model predictive control method is proposed to reduce the energy consumption of unmanned underwater vehicle in the process of dynamic position control. The simulation case is designed to verify the flexible dynamic control capability of monomer unmanned underwater vehicle. The experimental results show that the strategy and control method proposed in this article, compared with the traditional proportion integration differentiation control method, could obtain the same control effect and reduce energy consumption, to achieve the purpose of prolonging the unmanned underwater vehicle operating time.