Control system design and experiment for large-scale high-speed unmanned underwater vehicle
Objectives In order to guide a large-scale high-speed unmanned underwater vehicle (UUV) along the desired path smoothly in 3D space while taking the task requirements of its control performance and hydrodynamics into consideration, a fuzzy line-of-sight (LOS) guidance law with robustness is proposed...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2020-04-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://html.rhhz.net/ZGJCYJ/html/2020-2-95.htm |
| _version_ | 1819092953672450048 |
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| author | WANG Wenjin WANG Guanxue LI Ben XU Guohua |
| author_facet | WANG Wenjin WANG Guanxue LI Ben XU Guohua |
| author_sort | WANG Wenjin |
| collection | DOAJ |
| description | Objectives In order to guide a large-scale high-speed unmanned underwater vehicle (UUV) along the desired path smoothly in 3D space while taking the task requirements of its control performance and hydrodynamics into consideration, a fuzzy line-of-sight (LOS) guidance law with robustness is proposed.Methods Based on decoupling control, an integrated separate PID algorithm is designed for velocity, heading, depth and pitch. The dynamic characteristics are then modified by introducing filters for commands and state feedback. Finally, the control performance under varying velocities is tested by conducting lake trials.Results The experimental results show that, under the velocities of 6, 9, 13 kn, the vehicle can follow the desired path and depth within a reasonable margin of error, which demonstrates that the proposed control system is valid.Conclusions Besides, the achievements lay a theoretical foundation for the motion control algorithm design of next-generation unmanned underwater test vehicles. |
| first_indexed | 2024-12-21T23:03:49Z |
| format | Article |
| id | doaj.art-83025cc75034400498901c412abfc4cf |
| institution | Directory Open Access Journal |
| issn | 1673-3185 1673-3185 |
| language | English |
| last_indexed | 2024-12-21T23:03:49Z |
| publishDate | 2020-04-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj.art-83025cc75034400498901c412abfc4cf2022-12-21T18:47:14ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31851673-31852020-04-011529510310.19693/j.issn.1673-3185.017592020-2-95Control system design and experiment for large-scale high-speed unmanned underwater vehicleWANG Wenjin0WANG Guanxue1LI Ben2XU Guohua3School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaObjectives In order to guide a large-scale high-speed unmanned underwater vehicle (UUV) along the desired path smoothly in 3D space while taking the task requirements of its control performance and hydrodynamics into consideration, a fuzzy line-of-sight (LOS) guidance law with robustness is proposed.Methods Based on decoupling control, an integrated separate PID algorithm is designed for velocity, heading, depth and pitch. The dynamic characteristics are then modified by introducing filters for commands and state feedback. Finally, the control performance under varying velocities is tested by conducting lake trials.Results The experimental results show that, under the velocities of 6, 9, 13 kn, the vehicle can follow the desired path and depth within a reasonable margin of error, which demonstrates that the proposed control system is valid.Conclusions Besides, the achievements lay a theoretical foundation for the motion control algorithm design of next-generation unmanned underwater test vehicles.http://html.rhhz.net/ZGJCYJ/html/2020-2-95.htmunmanned underwater vehicle (uuv)test vehicleadaptive guidanceintegrated separate pidsecond order filter |
| spellingShingle | WANG Wenjin WANG Guanxue LI Ben XU Guohua Control system design and experiment for large-scale high-speed unmanned underwater vehicle Zhongguo Jianchuan Yanjiu unmanned underwater vehicle (uuv) test vehicle adaptive guidance integrated separate pid second order filter |
| title | Control system design and experiment for large-scale high-speed unmanned underwater vehicle |
| title_full | Control system design and experiment for large-scale high-speed unmanned underwater vehicle |
| title_fullStr | Control system design and experiment for large-scale high-speed unmanned underwater vehicle |
| title_full_unstemmed | Control system design and experiment for large-scale high-speed unmanned underwater vehicle |
| title_short | Control system design and experiment for large-scale high-speed unmanned underwater vehicle |
| title_sort | control system design and experiment for large scale high speed unmanned underwater vehicle |
| topic | unmanned underwater vehicle (uuv) test vehicle adaptive guidance integrated separate pid second order filter |
| url | http://html.rhhz.net/ZGJCYJ/html/2020-2-95.htm |
| work_keys_str_mv | AT wangwenjin controlsystemdesignandexperimentforlargescalehighspeedunmannedunderwatervehicle AT wangguanxue controlsystemdesignandexperimentforlargescalehighspeedunmannedunderwatervehicle AT liben controlsystemdesignandexperimentforlargescalehighspeedunmannedunderwatervehicle AT xuguohua controlsystemdesignandexperimentforlargescalehighspeedunmannedunderwatervehicle |