To satisfy the requirements of position control accuracy and allow unmanned underwater vehicle to maintain in the target zone with energy consumption as little as possible, this article proposes a flexible dynamic positioning strategy and control method, so as to extend the operating time of unmanned underwater vehicle dynamic positioning. Taking the distance between unmanned underwater vehicle and target point as the judgment condition for control method switching, this article delimits the working zone of different control levels for unmanned underwater vehicle and designs corresponding dynamic control methods for different working conditions. When unmanned underwater vehicle is far away from the target point, cuckoo search optimization method is proposed to plan the optimal motion scheme of energy consumption for the process of unmanned underwater vehicle reaching the target point. When unmanned underwater vehicle is close to the target positioning point, a flexible model predictive control method is proposed to reduce the energy consumption of unmanned underwater vehicle in the process of dynamic position control. The simulation case is designed to verify the flexible dynamic control capability of monomer unmanned underwater vehicle. The experimental results show that the strategy and control method proposed in this article, compared with the traditional proportion integration differentiation control method, could obtain the same control effect and reduce energy consumption, to achieve the purpose of prolonging the unmanned underwater vehicle operating time.

中文翻译：

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基于能耗优化的无人水下航行器动态定位控制方法研究

为满足位置控制精度要求，让无人水下航行器以尽可能少的能耗维持在目标区域内，本文提出一种灵活的动态定位策略和控制方法，以延长无人水下航行器的作业时间。动态定位。以无人水下航行器与目标点的距离作为控制方法切换的判断条件，划定了无人水下航行器不同控制级别的工作区域，并针对不同的工作条件设计了相应的动态控制方法。当无人水下航行器远离目标点时，提出布谷鸟搜索优化方法，为无人水下航行器到达目标点的过程规划能量消耗的最优运动方案。当无人水下航行器接近目标定位点时，提出一种灵活的模型预测控制方法，以降低无人水下航行器在动态位置控制过程中的能耗。仿真案例旨在验证单体无人水下航行器的柔性动态控制能力。实验结果表明，本文提出的策略和控制方法与传统的比例积分微分控制方法相比，能够获得相同的控制效果并降低能耗，