Study On Automatic Navigation System Of Unmanned Underwater Vehicles

The immense sea is abundant in mineral resources, biological resources and other kinds of energy resources, which are the wealth of sustainable development of human society. As the further development of sea resources exploration, the research of UUV (Unmanned Underwater Vehicle), as an assistant of sea exploration, attracts a lot of attention of many countries. However, UUV has to move flexibly according to its tasks and for safe sail. Therefore, the maneuvers and control methods of submarines are one of the key technologies for successful execution.The control system of UUV is the instruction executing system that performs the perfect navigation plan, keeps the ship on the scheduled course, and controls the ship according to the instructions of collision avoidance and risk avoidance. The maneuverability of UUV refers to the performance of UUV to keep its speed, posture, direction and depth by its steering device. When the submarine reaches good maneuverability, it could keep the course, depth and speed of the ship conveniently and stably according to the requirements, as well as change course, depth and speed of the ship rapidly and execute maneuvers. It is obvious that good maneuverability plays a very important role in operation efficiency and safety of UUV.This paper is based on the experimental project of ministry of transportation "Underwater Salvaging and Detecting Operation Platform", where fuzzy adaptive and PID control methods have been applied to the automatic navigation system of UUV to keep it sail on its scheduled course.According to the intelligent control of submarine, this paper gives a brief review about up-to-date research results about UUV, control system of submarine and the general tendency of intelligent control system. And then, it investigates the theory of fuzzy control and PID control. Moreover, a simple fuzzy controller and a fuzzy PID controller have been designed to control motors, and the whole resolution of sailing system has been also given. Finally, the sailing system using both controllers mentioned above has been evaluated by simulations.The research has realistic significance to the automatic control system of submarine and sea exploration.