Research On Green Dynamic Positioning Of UUV For Collaborative Observation And Detection

The green dynamic position control process of UUV means that under the premise of meeting the control accuracy requirements,UUV makes its posture reach and maintain the target state with the minimum energy consumption,the lowest possible frequency of the propeller,and the lowest radiated noise.The main content of this article is to study the green dynamic position control method and strategy of single UUV with the formation of UUV clusters as the basic constraint.The main research contents of this article are:Firstly,the position and attitude control requirements of UUV cluster for orientation and detection were analyzed,and the UUV mathematical model was simulated and verified.For three typical formations,combined with task constraints,communication capability constraints,safety distance constraints,etc.,the position and attitude control requirements were analyzed separately.The dynamic model of the UUV was simulated and verified,and the dynamic positioning capability of UUV was analyzed.Secondly,in view of the noise of UUV measurement information during low-speed motion near the water surface,the applicability analysis of the unscented Kalman filtering method was performed,and the UUV measurement information denoising method based on the unscented Kalman filter was simulated verification.Thirdly,a green dynamic position control method and strategy were designed for the formation-oriented UUV.Taking the distance between the UUV and the target positioning point as the judgment condition for switching the control method,working areas with different control levels were delineated for UUV,and corresponding dynamic positioning methods were designed for each case.In combination with the foregoing,when the UUV is far away from the target positioning point,a particle swarm optimization method is used to plan a motion scheme with the best energy consumption for the process when the UUV reaches the target positioning point;when the UUV is closer to the target positioning point,an improved generalized predictive control method is adopted to make the UUV quieter and lower radiated noise during the on-duty monitoring of the target position,while extending the on-duty operation time.Finally,based on the engineering application background,a simulation case was designed,and the UUV green dynamic positioning method and strategy for the observation detection formation maintenance proposed in this paper was simulated.The experiments were carried out from two perspectives,namely,the formation holding ability of the UUV cluster and the green dynamic position control ability of the single UUV.The test results show that the strategy and control method proposed in this paper have the characteristics of timely response,energy saving and noise reduction,and can reduce energy consumption under the premise of meeting the expected control effect,and finally achieve the purpose of green dynamic control.