Research On Coordination Control Method For The Forming Array Of Multi-sonar Positioning Buoys

Under the drifting condition, the buoy is disturbed by the wind and current. In about 40 minutes, the buoy can drift away from the arrangement point about 1000 meters. In order to solve this problem, this paper used the automorphic position sonar buoy, it has a certain intelligence, can not only autonomous movement on the water, but also can can also keep the arrangement region unchanged. Finally, it reduces the manpower and the material resources of the distribution and recovery. But limited by the detection distance of a single buoy, it usually needs more than one buoy to form a array when performing a task.Therefore, the research on the coordination control of multi buoy array has practical application value.In this paper, through analysis the coordination control of multi sonar positioning buoy,it can be divided into single buoy path tracking control problem and multi buoy array coordination control problem. The main research contents are as follows:Firstly, the object of the study, namely, the sonar positioning buoy, which is detail described including the structure and control principle; Then, combined with the characteristics of the object in this research and based on the basis of ship motion model, a four DOF sonar buoy Horizontal movement kinematics and dynamics model is established ;the constant model of ocean current interference is established because of the sonar buoy is disturbed In the process of performing the task; Finally, the open loop simulation is carried out to verify the proposed model.Secondly, it is analyzed the basic array of buoy when performing tasks, including common basic arrangement array of equilateral triangle array and square array, and it is also analyzed the search efficiency of two arrays in the same conditions ; Then the tracking control method of a single buoy is introduced; According to the coordination of the formation of the mobile robot control method, this paper introduces the coordination control method that can be reference by of the multi sonar buoy in array forming?array switching and in the array process of migration; Finally, introduced the control system structure of the object in this paper, including single buoy path tracking control architecture and multi buoy array coordination control system structure.Again, According to the path following control strategy, the path tracking controller of the buoy is designed based on the backstepping method; Then,the stability of the path following controller is proved In the presence of interference. Finally, the effectiveness of the path following controller is verified by simulation.Finally, The problem of the buoy array coordination control is divided into coordinated control in the process of array forming and array changing, and coordinated control in the process of array migration. And coordination controller are designed separately. First of all, based on the buoy communication, according to the thought of path optimization in the process of array forming and array changing, the expected path of each buoy is given. The buoy in the array, which is the maximum deviation from the initial position to the desired position is as a reference. According to the design of the buoy path tracking controller, the array coordinated control rule is derived; Then, the array coordinated control rule is derived in the process of array migration based on the virtual leader follower and virtual structure method, and the stability of the array coordination control strategy is proved; Finally, the control performances of the coordinated controllers in both cases are verified by simulation.