Research On High Maneuvering Motion Control Of X-rudder AUV

The underwater robot has always been attached great importance to by marine developers.X rudder is a different layout of AUV tail rudder from the traditional cross rudder.Compared with the cross rudder,the four rudders of X rudder are independent of each other,so the X rudder submarine has better maneuverability,higher maneuverability and better space motion ability.Based on the "wl-2" AUV motion model,this paper studies the maneuverability and space motion control method of x-rudder AUV.1.The x-rudder AUV in this paper can complete high-speed and high pitch motion in space,when the AUV pitch angle is close to 90 ° In this paper,quaternion instead of Euler angle is used to improve the degradation of trigonometric function and the accuracy of the model;The star CCM + software is used to calculate the hydrodynamic coefficient of the x-rudder AUV considering the hull interference,which provides the basis for the follow-up research.2.In order to study the maneuverability of x-rudder AUV,the maneuverability simulation experiments of x-rudder AUV and cross rudder AUV are carried out.The equivalent rudder transformation model of X rudder and cross rudder is established by rudder angle correlation hydrodynamic coefficient,and the rudder force control distribution model of X rudder is established by pseudo inverse method.Finally,the simulation results show that the mobility of x-rudder AUV is better than that of cross rudder AUV.3.Aiming at the three-dimensional path tracking of x-rudder AUV,an improved space line of sight guidance method is proposed.The arctangent function curve curvature of the traditional line of sight method is small,and the expected attitude angle is small,which can not make the x-rudder AUV quickly respond to the target path.In this paper,hyperbolic tangent function is used to improve the line of sight method to improve the response speed of x-rudder AUV.Finally,it is verified in the simulation experiment.In the three-dimensional parabola path tracking simulation experiment,the fast diving and floating of x-rudder AUV is realized.The advantage of roll control of x-rudder AUV is verified in the tracking test of three-dimensional broken line submarine path.4.Research on tracking control method of x-rudder AUV.An adaptive non singular fast terminal sliding mode control(ANFTSMC)method is proposed.The x-rudder AUV studied in this paper can move at high speed and large angle in space,and is greatly affected by the model parameter perturbation and uncertain disturbance in the environment.It requires high robustness,nonlinearity and fast response of the controller.An anftsmc control method is proposed,and an adaptive law is designed to achieve the on-line approximation of the integrated disturbance.Then a fast disturbance observer nonsingular fast terminal sliding mode control(FDO-NFTSMC)method is designed based on the fast disturbance observer.The disturbance observer is used to eliminate the influence of the integrated disturbance,and the stability is proved,Finally,a simulation experiment is carried out to verify the advantages of the two controllers...