Feed-forward cascade control&nbsp;of underwater glider vertical plane motion

doi:10.16411/j.cnki.issn1006-7736.2018.02.008

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Journal of Dalian Maritime University ›› 2018, Vol. 44 ›› Issue (2) : 46-53. DOI: 10.16411/j.cnki.issn1006-7736.2018.02.008

Feed-forward cascade control of underwater glider vertical plane motion

WANG Hao-liang^a,WANG Dan^b,PENG Zhou-hua^b,WANG Tian-lin^*c,ZHANG Chun-lai^1a

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Abstract

According to the structural characteristics of underwater glider, a feed-forward cascade control strategy was proposed based on the study of different control strategies. Firstly, the longitudinal plane motion model of underwater glider was established after reasonable simplification. Secondly, based on the navigation requirements of the underwater glider and the characteristics of the regulating mechanism, the principle of the single loop control strategy, the feed-forward/ feedback control strategy and the feed-forward cascade control strategy were analyzed . Finally, the single loop control strategy, the feed-forward/feedback control strategy and the feed-forward cascade control strategy were used to simulate the glider’s motion by using the basic parameters of the Slocum glider. Comparative analysis on the system parameters including pitching angle，gliding speed，attack angle，attitude control slider position and buoyancy driven system quality shows that the feed-forward cascade control strategy has obvious advantages in both static and dynamic performance, which can make underwater glider quickly realize the tracking response to control instructions，small system overshoot and stationary state switching，which is suitable for the motion control of underwater gliders.

Key words

underwater glider / vertical plane / feed-forward cascade control / single loop control / feed-forward/feedback control

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WANG Hao-liang,WANG Dan,PENG Zhou-hua,WANG Tian-lin,ZHANG Chun-lai. Feed-forward cascade control of underwater glider vertical plane motion[J]. Journal of Dalian Maritime University. 2018, 44(2): 46-53 https://doi.org/10.16411/j.cnki.issn1006-7736.2018.02.008

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