Research On Adaptive Coordinated Control For UUV Underwater Recovery

Unmanned underwater vehicle(UUV)is a high-tech automation equipment with self-contained energy and automated mission finishing,due to its advantages of high intelligence and strong independence,UUV has been widely used in various aspects of ocean exploration,underwater search and rescue operations.UUV underwater recovery is a major way of UUV recovery,it has a high scientific research value.Aiming to UUV recovery process with the complex current of under sea environment,this paper designs a set of recovery strategy for UUV underwater recovery with its discrete systems,and also,this paper design a controller to control the UUV movment,so as to solve the UUV underwater recovery adaptive coordination control problem with the complex sea current.Firstly,this paper introduces the UUV underwater recovery technology,UUV motion control technology and the research status in China and foreign country.Subsequently,the this paper builds UUV model with six degrees of freedom,and analyzes the model in nonlinear and coupling,current disturbance and uncertainty parameters which might affects the design of the controller.Secondly,through the research on recovery process of UUV under water,combined with the theory of hybrid systems,this papser separate the process into discrete systems and continuous proces,the UUV recovery decision system is divided into "instruction layer","coordination layer" and "execution layer",a three-layers structure.Based on the three-layers structure,using the Petri net theory into UUV`s own decision-making mechanism,system needs into the discrete system Petri net modeling of "multi sensor data fusion system","coordination of the underwater action system" and "abnormal state processing system".Finally,Petri net model is established for the whole process of the whole recovery process,so as to complete the formulation of UUV water recycling strategy.Finally,according to the recycling strategy prior to the development,because of the close relative motion are mainly horizontal motion near the docking mechanism action and vertical plane seat dive two moves between the UUV and the mother,the controller designed for the two part of the action.When the UUV is in the process of docking with the docking mechanism,it belongs to the plane motion of UUV in the current disturbance.By decoupling the UUV six degrees of freedom motion equations and the plane motion mathematical model of UUV,and control using sliding mode control algorithm of UUV plane motion,then by adding the state feedback control of the control effect of optimized controller.The simulation experiment is designed to verify the control effect of the controller by using MATLAB to simulate the ocean current disturbance to UUV.When the UUV is in motion dive seated,it belongs to the UUV vertical movement in the current disturbance.After the vertical motion model of UUV is obtained by decoupling and the method,a new method is proposed to control the disturbance of the vertical surface currents.In order to enhance the control performance of the controller,the parameters of the algorithm are adjusted.No simulation of current disturbance and constant current disturbance and complex current disturbance of three kinds of environmental design dive process,verify the control effect of the controller.