Research On Motion Control Method In The Recovery Of Autonomous Underwater Vehicle

With the development of research on Autonomous Underwater Vehicle (AUV), people try to find out the effective method of recovery and deepwater recovery is focused on because of many advantages. When AUV navigates near plane wall, hydrodynamic forces will perform complicatedly due to the hydrodynamic interactions. Besides recovery, other cases of motion of AUV near the plane wall, the problem of hydrodynamic interactions must be solved.Many theories and numerical calculations about hydrodynamic interactions are presented currently. This dissertation refers to a hydrodynamic interactions experi(?)t where AUV navigates at different surge speed, with different attacK angle and different distance from plane wall. Hydrodynamic interactions including surge force, heave force and pitching moment are discussed in this dissertation.After comparing the differences of hydrodynamic forces between in the open water zone and under the interaction of plane wall, the motion model of AUV is provided and controllers for recovery are designed. The law of hydrodynamic interactions varied with distance and attack angle is analyzed and the reliability of controllers is demonstrated by computer simulations.