Research On UUV Fast Stabilization Control Method Under The Condition Of Strong Load Disturbance

Unmanned Underwater Vehicle(UUV)has a wide range of military and civilian applications in marine resource development,search and reconnaissance,maritime operations and other military and civilian aspects.At present,UUV is moving towards deep diving,long range and multi-functional direction,which can carry the deployment of multi-functional load UUV research and development is imperative,for national defense and scientific research are of great significance.UUV deployment of load process is very complex,involving the load out of the tube on the UUV reaction force,load out of the tube to produce UUV floating weight imbalance in the vertical and vertical forces and moments,as well as the outside uncertain environment and sea currents on the UUV interference.The ability of the UUV to maintain its position during various perturbations is the key to the smooth deployment of the load.In this paper,the following studies will be carried out on the sedation control of the deployed load UUV.Firstly,the geodetic coordinate system and the hull coordinate system are established for UUV,and the kinematic and dynamical equations of UUV five degrees of freedom are established based on the spatial motion and fluid dynamics of UUV.The interference of ocean currents with the UUV is analyzed and the ocean current interference model is built.Then the analysis and study of several common underwater payload deployment methods were carried out,and the self-propelled launch method was selected for payload deployment.The motion and force of the load outlet tube are analyzed to obtain the equation of the load motion and the strong interference force model for the UUV.Secondly,in order to compensate for the positive buoyancy force generated by the load outlet pipe on the UUV,a reasonable water replenishment chamber was designed.The water replenishment chamber water intake process was analyzed in detail to obtain the water intake equation and the force and moment generated by the water replenishment chamber on the UUV.The UUV’s thruster system is configured rationally and the thrust distribution logic of each thruster is designed and analyzed.The maximum thrust provided by the thrusters at each degree of freedom was calculated and compared with the disturbance forces caused by the current disturbance and the strong disturbance of the load distribution,respectively.Thirdly,the robust H∞ control method is used to design a robust sedation controller for UUVs that are subjected to strong disturbance of their own attitude position.The H∞ robust controller is designed using the Riccati equation method based on the UUV five degrees of freedom error model and the integrated interference force model.And design a reasonable Liapunov function that proves the stability of the designed controller,and verify the controller effect by simulation.Finally,a simulation validation of the designed robust calming control is performed based on the operating characteristics of the UUV to perform the deployment load task.The simulation of UUV deployment load under hydrostatic conditions and sea current disturbance conditions was carried out separately,and the robustness,effectiveness and reasonableness of the robust H∞ controller designed in this paper were proved by the comparison between the robust H∞ controller and conventional PID control.