Overdrive AUV execution mechanism switching control method

• Main Authors: ZHANG RENRAN, XIN JIAN, ZHANG TIEDONG, LIU CHAO, LIU ZIHAO, XING WEI
• Format: Patent
• Language: Chinese; English
• Published: 29.06.2018
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention provides an overdrive AUV execution mechanism switching control method. The overdrive AUV execution mechanism switching control method includes the steps that an AUV perpendicular planekinetic equation and a motion state spatial model are built; when the speed is low, a main impeller and a perpendicular channel propeller are adopted as an execution mechanism, and when the speed is high, the main impeller and a rudder fin are adopted as the execution mechanism; at a high and low speed switching point, a transition area is arranged, in the transition area, by defining a soft constraint to the execution mechanism, the perpendicular channel propeller and the rudder fin gently vary in an interval, and trim angles remain unchanged; by adopting a model prediction control method, according to control instructions, thrust of the main impeller, thrust of a vertical impeller and a rudder angle are calculated; control input is substituted into the model to obtain AUV position and posture information. By the