Research On Moving-base UUV Recovery Control Method Based On Model Predictive Control

Unmanned underwater vehicle(UUV)recovery control is of great importance in the entire UUV control process.However,most current UUV recovery researches were performed while the recovery mother ship remains stationary.During the entire UUV recovery process of the moving base,the UUV and the recovery mother ship are in motion.The movement of the two will interfere with each other as they approach each other.The UUV must not onl y overcome various complex constraints and resist external interference,but also deal with the collision between the UUV and the recovery mother ship after interference.Therefore,the research on the UUV tracking and docking stage of the moving base is difficult.In this paper,the needle movement recovery mother ship which is the moving base UUV tracking control and docking control during the UUV recovery process.By analyzing the current research status of UUV recycling control and related control methods at home and abroad,the shortcomings of researches are discovered.It is found that the current research has shortcomings such as theoretical emphasis,inadequate constraints considered,and insufficient control accuracy.And the difficult problems of the moving base UUV recycling research are analyzed in combination with various complex constraints and interferences of UUV recycling process.Model predictive control(MPC),layered control,robust control and satisfaction control are used to study the moving base UUV recovery control.The main research contents of this article are as follows:Firstly,a multi-layered robust MPC tracking control algorithm under constraint conditions is proposed to deal with the multiple constraints in the moving base UUV tracking process that need to be processed simultaneously and the calculation amount of the MPC tracking control method is too large.A variety of constraints in the tracking process would be processed,and they were introduced into the optimization target and prediction model.The MPC tracking controller under the constraints was designed.In order to solve the problem of excessive and stable MPC control calculations,the Hierarchical control strategy and robust H-infinity control strategy are introduced.A position tracking layer based on the estimated MPC and a pose coordination layer based on the robust H-infinity are proposed,and a layered robust MPC tracking and coordination integrated control framework is constructed.Later,the processed constraints were introduced into the position tracking layer and the attitude coordination layer.A layered robust MPC tracking controller for the moving base UUV under a variety of complex constraints was proposed,and then the moving base UUV was simulated by Matlab to prove effectiveness..Secondly,in order to solve the problem that the single optimization target achieves global optimization during the docking process of the moving base UUV,but cannot satisfy the simultaneous optimization of multiple degrees of freedom,a multi-objective and multiple degree of freedom satisfactory MPC docking control algorithm is proposed.A variety of complex constraints and interference problems in the moving base UUV docking process were processed to make the constraints meet with the requirements of the MPC control design,and then a moving base UUV constraint MPC docking control algorithm based on stable tracking was designed;in order to speed up response speed,reduce the output overshoot during the movement,improve the stabilization time,introduce the satisfactory control idea into MPC control,and propose a distributed moving base UUV satisfactory MPC docking control algorithm.Then,multiple complex constraints are introduced into the distributed MPC prediction model and optimization goals,and a multi-objective,multi-degree-of-freedom satisfactory MPC docking controller is proposed.The analysis of the docking control simulation results for MPC docking,constraint MPC docking,and constraint satisfaction MPC to prove effectiveness.Finally,a pool test based on MPC was performed.During the pool test,a simplified MPC heading controller was designed based on the MPC.And then the commanded heading MPC control test for artificially set heading,and the guidance MPC cont rol test based on acoustic guidance and optical guidance were conducted.The data analysis of the test results proves that the designed simplified MPC heading control algorithm is effective,and UUV can stably reach the specified heading within a certain range.Then the UUV depth controller based on the simplified MPC is designed,and the command depth and acoustics are performed separately.The MPC depth control test of the guidance depth and the optical guidance depth has proved the effectiveness of the MPC depth controller by analyzing the test results.