Research On Coordinated Control Technology Of Self-organizing Multi-array Sonar System In Underwater

As we all know,more than half of the earth is covered by the ocean,the ocean contains a very rich resources,and in the future war,the ocean is one of the most important battlefield.However,China's underwater detection and navigation technology has a big gap between the developed countries,so the development of convenient and effective detection system to maintain the country's future great survival and development interests.Underwater self-organizing multi-array sonar system is the most critical technology is multi-array sonar system coordinated control technology,a number of micro-submersible submersible equipped with sonar in the water under the coordinated coordination to complete the array sonar system layout.The multi-array sonar system is based on the underwater unmanned submersible autonomous detection system.In this paper,the micro-submerged submersible vehicle is used as the research object,and the path planning problem and the formation control and coordination problem in the coordinated control technology are studied under the environment interference.First,the basic elements related to the control of micro-submerged submersibles are provided,including the establishment of mathematical models of micro-submerged submersibles in underwater space,analysis of submersible gravity,buoyancy,hydrodynamic and thrust underwater and analysis These make the tiny underwater submersible produce six degrees of freedom of space movement effect.Through the modeling of the thruster,the motion of the micro-submerged submersible in the horizontal and vertical surfaces and the spatial motion expression of the micro-submerged underwater vehicle are analyzed.The mathematic model of the micro-submerged submersible was established under the condition that the mass and volume of the micro-submersible were the same,and the change of the temperature,pressure and salinity of the seawater was independent of the volume and buoyancy change.The validity of the.Then,based on the modeling of micro-submerged submersible,the underlying control method for different control parameters of micro-submerged submersible is studied.The PID controller and the fuzzy controller are studied in the framework based on the uncertain model of the controlled model,and the applicable conditions and advantages and disadvantages of the two control methods are given respectively.In order to improve the control precision,the PSO-PID control method is proposed by combining the particle swarm optimization algorithm with the PID,and the validity of the PSO-PID control method is proved by the simulation.Then,the modified wolf pack algorithm is used to design the path planning scheme of micro-submerged submersible.Aiming at the problem of underwater path planning,this paper proposes a method of path planning based on modified wolf pack algorithm.For the first time,the wolf pack algorithm is applied to the underwater path planning.On the one hand,the wolf algorithm is slow and the low-dimensional search effect is poor Shortcomings,on the one hand the design of a set of fast and efficient underwater path planning method,through simulation we can see that the use of improved wolves algorithm compared to wolf pack algorithm in the application of path planning in the better results.Finally,from the whole system,the design of coordinated control of multi-array sonar system in underwater ad hoc networks is introduced.A three-level coordinated control scheme is proposed,which is divided into coordination control layer,pilot-follower layer and bottom control layer.The coordination tasks are divided by three levels of division.For the coordination layer,this paper proposes a combination of the pilot-follower method and the graph theory,and the design of multiple parameter matrices can easily realize the formation of formation and transform the formation of the action.In the realization of a pilot-follower,this paper presents the concept of virtual pilot,through the pilot position information to estimate the virtual pilot's track,virtual location,virtual speed,so that followers track the virtual pilot's track to avoid when The system crashes when the pilot fails.In this paper,the genetic algorithm is used to optimize the quantization factor of fuzzy control,which solves the problem that the quantization factor has a great influence on the fuzzy control effect.The simulation results show that the proposed control scheme is simple and effective,and can overcome the influence of various hydrodynamics in the environment,and has strong robustness and fast dynamic response.