Research On 3D Path Tracking Control Of Full-actuated Autonomous Underwater Vehicle

At present,AUV(autonomous underwater vehicle)is widely used in seabed terrain detection,ocean target tracking and ocean search and rescue.It is one of the important emerging tools in ocean development.And because of its good concealment performance and wide range of operations,it plays an increasingly important role in water resources detection,military intelligence collection and other tasks.3D path tracking plays an important role in the recovery and placement of AUV and other tasks.This paper focuses on the new method of three-dimensional path tracking control of full drive AUV,and participated in the development of "sea exploration II" full drive AUV and its independent recovery device.The details are as follows:Firstly,the research status and development trend of AUV and autonomous recovery and docking device at home and abroad are analyzed.According to the specific requirements of autonomous development "T-SEA II" full drive AUV recovery and docking,the control scheme of "T-SEA II" full drive AUV recovery and docking is formulated,and the selection of some key devices is completed;The mathematical model of "T-SEA II" full drive AUV is studied and established,which includes vertical plane model,horizontal plane model,environmental interference model and propeller model.Then,a new method of three-dimensional path tracking predictive integral S-surface control for AUV recovery is proposed.According to the nonlinear characteristics of autonomous underwater vehicle system,this method combines the advantages of predictive control and s-plane control,and sets the performance index function to output the parameters of s-plane controller.In addition,an integral term is introduced into the s-plane controller to enhance the adaptability and anti-interference performance of the controller.Simulation results show that the method can effectively improve the accuracy and stability of AUV recovery.Secondly,we have participated in the development of a set of "T-SEA II" full drive AUV body and docking dock experimental system.The system consists of the whole drive AUV and the hardware and software of docking dock control system.This paper introduces the design and debugging process of the full drive AUV body and some hardware modules of docking dock.This paper studies and designs the software control system of "T-SEA II" full drive AUV and docking dock based on Moos system.Finally,the three-dimensional path tracking experiment of AUV recovery was carried out.Including ultra short baseline positioning experiment,continuous autonomous docking experiment,underwater straight path tracking experiment,underwater rectangular path tracking experiment.The experimental results verify the effectiveness of the designed controller and the stability of AUV control system,and meet the requirements of AUV Underwater Docking recovery function.