基于MPC算法的AUV空间航迹跟踪控制

AUV space trackway-pointfollowing controlbased on MPC

为了解决AUV在空间运动中的路径点跟踪控制问题,参照水下航行器的建模方法,建立AUV的六自由度动力学和运动学模型,采用水平面视线导航法计算AUV指令航向,采用垂直面制导算法计算AUV的垂直面指令深度、指令纵倾和指令深度速率。针对AUV的水平面和垂直面控制,设计基于状态空间形式的模型预测控制算法。通过仿真表明,所提出的空间航迹控制算法能达到较高的控制精度,采用的指令深度+指令纵倾+指令深度速率的控制方法能使AUV尽快航行至指令轨迹并跟踪垂直面航迹。设计的空间路径点跟踪控制算法对AUV后续的控制系统开发具有一定的参考意义。

This study aims to solve the problem of the autonomous underwater vehicle’sway-point followingin three-dimensional motion.Firstly,the paper builds 6 degrees of freedom kinematics and kinetics model of the AUV according to the modeling method of UUV,thenusing the method of line-of-sight to calculate the command headingin horizontal plane,using guidance algorithm to calculate the command depth in vertical plane,finally the paper designs a modelpredictivecontrol algorithm based on the state-space model for horizontaland verticalcontrolof the AUV.By the result of the simulation,the proposed space track control algorithm can achieve high control accuracy.The control method which combines the command depth,command trim and command depth rate can make the AUV navigate to the command trajectory as soon as possible and track the vertical trajectory.The algorithm designed can be revelatory for the subsequent developing of the AUV’s control system.