无人水下航行器的智能航行控制

Intelligent navigation control for unmanned underwater vehicles

水下无人航行器是探索未知水域的重要设备,但是传统水下无人航行器的智能航行控制系统,受到水域信号传播限制,造成智能控制范围较小,为此设计无人水下航行器的智能航行控制系统。使用水域深度变换器对智能控制器进行重新设计,根据水域深度变化进行不同方式的控制切换,优化PID控制器,改变水域信号传输方式,根据需求进行多传输方式的切换;使用粒子群算法对智能控制方式进行规划,对不同水域控制方式进行最优选择,实现航行智能控制系统设计。试验结果表明,设计的控制系统能在水下2 000 m内进行有效控制,比传统控制系统多出800 m的有效范围,因此本文设计系统具备极高的有效性。

Unmanned underwater vehicle is an important equipment to explore uncharted waters,but traditional underwater unmanned vehicle intelligent navigation control system,is limited by water signal propagation,causing intelligent control area is lesser,design for this sail unmanned underwater vehicle's intelligent control system.Use of water depth mapping mode to redesign of intelligent controller,according to the control switch of water depth change in different ways,to optimize the PID controller,change the water signal transmission way,according to the demand for more transmission mode switch;Using the particle swarm algorithm,the intelligent control method is planned,and the calculation of different water bodies is carried out to realize the intelligent control of navigation.Test results show that the designed control system within 2 000 meters of water under effective control,and more effective than traditional control system of more than 800 meters,so the effectiveness of the designed system has extremely high.