Control System Design Of The Hybrid Autonomous Underwater Vehicle

The hybrid autonomous underwater vehicle is a new type of autonomous underwater vehicle which propelled both by buoyancy and propeller. It has the respective advantages of AUV and AUG. In propeller driven model, it has the advantage of higher maneuverability and velocity. However, in buoyancy-driven model, it has long endurance and low noise. The motion characteristics of hybrid autonomous underwater vehicle are more complex than traditional. Thus, the control system is much more complicated which need of higher reliability.Based on independently developed hybrid autonomous underwater vehicle PETREL, this paper designed the distributed control systems of AUV and AUG. The main research and contributions of this thesis are summarized as follows:1. The distributed control system based on serial port and CAN bus are designed which can reduce the adverse effects of complex underwater environment. This control system avoids the mutual interference of serial port and CAN bus, so it is appropriate for autonomous underwater vehicle with multiple sensors and executing agencies.2. The design of core control unit and function modules. The core control unit with excellent expansibility and interchangeability is designed based on ARM7 LPC2292. Then function modules of power management system, propeller system, attitude control system and variable-buoyancy system are designed.3. Based on fuzzy PID controller, the control strategy of PETREL is studied, including trajectory tracking strategy, attitude control strategy and exceptions handling strategy. It is verified that this control system is robust and can effectively complete navigation and measure missions.4. A series of unit experiments are carried out to validate the function of control system. The lake trials verified the feasibility and reliability of PETREL's control system.