Research On Planar Motion Control Of Returning Submersible Vehicle Based On Grey Prediction Theory

Sea status is the main disadvantage of any kind of working submersible vehicle in returning. The support ship and working submersible vehicle are moving with different amplitude and phase when it is disturbed by wind , current and wave.Not only it is difficult to control and chain up, but also it may cause danger when working submersible vehicle is hung over the surface of the water. Because the working submersible vehicle's movements, which bring by the support ship's depth, pitch and yaw, is Unpredictable.Underwater return is more doable because of the less disturbance and the stealth. So research on working submersible vehicle motion control system, in returning, is one of the key research problems on recovery technology. The system is highly nonlinear, strongly coupled, time-variable and uncertain when it is greatly disturbed by current and wave. The control system must have adequate precision of motion control, strong robust and nonlinear adaptability to adapt above requirements. It brought about austere difficulty to the system design.Grey prediction controller is designed to control the motion of the working submersible vehicle in returning. The simulation imply that this method achieve good performance. Including the practicability and simpleness it has much practical meaning in the working submersible vehicle'recovery.Firstly, according the working submersible vehicle'traits of movement, the position precision requirements and the grey prediction controller's characteristics, using the grey prediction controller in returning is put forward. This paper brings into the method of Modularization modeling and use this method in the system modeling. According the working submersible vehicle's special shape and the motion characters, we simplified the standardous model and established the mathematic model of this working submersible vehicle.Then through the classification of the data and the simulation, we figure out how the forecast steps and the number of data using affect the forecast results. According the working submersible vehicle'traits of movement, the specific control method is put forward.Finally, based on VC, simulations are done. This paper present the simulation results in several simulation environments, and explain the. advance of the grey prediction and the affects, which cause by the forecast steps and the number of data using.All in all, the grey prediction improve the PID controller, meet the precision requirements get good performance.