Research On UML Based Motion Control System Of AUV

Ocean is the base of the exploitation of biology, energy, water and metal resources. It plays an important role in the development of human society. In recent years, underwater vehicle is popular in ocean detection and underwater operation. Researches on underwater vehicle have been greatly developed.Owing to unpredictable operating environment of underwater vehicles, it is significant to design the control system, which can make underwater vehicles work safely and accurately. The main content of this thesis is to study the motion control system of Autonomous Underwater Vehicle (AUV) based on UML. The architecture of control system is designed by the method of modularization. The function of each module is defined, and the connection between them is realized. In this dissertation, the generality of the designed control system is analyzed, and a new universal architecture of AUV is presented.The traditional method of design embedded system design is using structure language which is difficult to reflect the analysis diagram. Since there is nearly no relationship between the date stream model and the code, Unified Modeling Language (UML) and Rhapsody tools is adopted to design architecture of control system with Visual Programming Method. UML model can generate the source code automatically which will reduce the time spending on translating abstract diagram into code.In this dissertation, a visual data stream diagram is presented by analyzing the demand of control system. The processing of sensor data, control algorithm, and thrust allocation are realized. Simulation experiment is carried out on simulation platform. Simulation results show that the control system presented in this dissertation has strong adaptability and high control precision. The expansibility, reusability and portability presented in this dissertation are the basis of universal architecture of AUV.