Online optimization method and system for depth control parameters of underwater vehicle, computer equipment and medium

• Main Authors: WU XIANG, WANG JINE, CHEN SHUANGQUAN, XU LANQING, WANG GAOYANG, JIANG CHUNMENG, ZHANG HONGRUI, LI SHUPENG, TANG YIMING, DENG YING, LYU JINHUA
• Format: Patent
• Language: Chinese; English
• Published: 19.12.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses an online optimization method and system for depth control parameters of an underwater vehicle, computer equipment and a medium, and belongs to the technical field of intelligent navigation of underwater vehicles. The problems that the depth control efficiency and precision are affected and the effectiveness is poor due to the fact that the existing depth control method needs to depend on professional technicians, selects parameters through a large amount of calculation and needs to learn based on massive sample data are solved. The method comprises the following steps: collecting vertical real-time data of the propeller; according to the vertical real-time data, a recursive least square method is adopted to obtain vertical motion control characteristics; an S-plane controller is adopted to control the depth, and an evaluation index function is selected; and according to the evaluation index function, performing online optimization on the S-plane controller parameters through a gradien