Study On Motion Control Of A Mini Underwater Vehicle

As a special tool for underwater exploitation, mini underwater vehicle has an enormous application prospect in area of science research, resource development and military in shallow water. Since the surge has great influence on mini underwater vehicle when working, the efficient movement and precise positioning have become the difficulty of mini underwater vehicle's study, so the improvement of motion performance is demanding, which is based on accurate control model and adaptive motion control algorithm.In this thesis, the study object is a mini 6-DOF propeller underwater vehicle. According to the mini underwater vehicle's structure, the kinematic equation is created based on its motion law, while the dynamical equation is derived from the mini underwater vehicle's forces when working. Considering the concrete movement of the mini underwater vehicle, the control models of heading motion and fixed depth motion are established.According to the common system architecture and specific situation of the mini underwater vehicle, the MPCE movement control architecture is presented and the general design for the mini underwater vehicle's control system is finished. While the control hardware's selection is completed, the hardware design and software design of the master control board are accomplished. The requirement of the main sensors for the mini underwater vehicle is proposed and finished its data acquisition.On the basis of discuss for PID control and fuzzy control algorithm, respectively, the fuzzy PID control algorithm for the heading motion and fixed depth motion of the mini underwater vehicle is designed. The simulation testing indicates the feasibility of the designed control method. The thruster trial and underwater motion experiments demonstrate the fuzzy PID control algorithm's applicability and robustness.The study results of this thesis provide the basis of the study of precise positioning control and path planning for mini underwater vehicle, which also have instructive significance for other underwater vehicles' development and motion control research.