Research On Disturbance Rejection Motion Control Method Of USV For UUV Recovery

As autonomous marine robots,unmanned surface vehicle(USV)and unmanned underwater vehicle(UUV)shows broad application prospect and great value in military,scientific research,business and other fields.They can perform a variety of tasks,such as military strikes,intelligence reconnaissance,marine monitoring,and marine engineering.It has the advantages of intelligence,low cost,and dangerous human tasks.So,it is a scientific research hot spots in the world.The recovery of UUV by USV is a new research topic,it has the advantages of convenience,low cost and expanding the scope of UUV work,so it is of great significance to study.Based on the engineering background of the recovery UUV by USV,this thesis studies the recovery guidance and anti-disturbance motion control of USV.The main research contents include:Firstly,aiming at the problem of dynamic submissive guidance during UUV recovery,the USV guidance strategy for UUV recovery is studied.Fuzzy guidance is introduced as a dynamic terminal guidance method,including tracking fuzzy guidance law and intercepting fuzzy guidance law.A layered guidance strategy combining classical guidance and fuzzy guidance is proposed.The simulation results show that the fuzzy guidance method has the advantages of simple,flexible and convenient application,and can be used for the guidance task of UUV recovery.Secondly,in view of the problems model uncertainty,model perturbation caused by external interference and model feature mutation caused by UUV recovery,based on the model free adaptive control(MFAC)theory,this thesis studies the anti-interference motion control method of the USV.The theoretical analysis and experimental results show that due to the non-self-balancing characteristics of the heading control subsystem,the heading response of USV will oscillate and cannot converge when using standard MFAC.By introducing the difference item and the history input item into the standard control criterion,the MFAC algorithm is improved,and the difference type MFAC and the non-increment type MFAC method are proposed respectively,which solves the problem that the standard MFAC cannot be applied to the heading control of the unmanned boat.The error convergence and stability of the difference type CFDL-MFAC method are proved by the squeeze theorem.The simulation results show that the differential MFAC has strong anti-interference.And the comparative simulation test of speed control based on standard MFAC and PID is completed.Thirdly,a test prototype of "Dolphin IB" USV is designed.Based on this platform,the improved MFAC method and fuzzy guidance strategy are used for tank and outfield ship tests.The effectiveness of improved MFAC is proved by comparing the standard MFAC with improved MFAC in the heading control experiment.Compared with PID,the superiority of the improved MFAC is proved by the wind-flow interference heading control experiment,the variable air state heading control experiment.The speed control experiment based on the standard MFAC method is completed.The target tracking test simulating UUV recovery is completed by using MFAC control method and fuzzy guidance,which verifies the practical application effect of fuzzy guidance and layered guidance.