Research For The Up-and-down System And Control Of Submergence Platform

With the wide use of AUV(Autonomous underwater vehicles), it can carry on various kinds of dangerous tasks instead of human, such as sea salvation and refloatation, resource investigation in deep sea, exploitation of sea oil ,building of military affairs and national defence and so on, and has brought out tremendous economy and society benefits. The research of AUV is the focus around the world according to the researching trends at home and abroad, but its discharge and reclaim have great difficults especially in the condition of great stormy waves, and that the mothership can't drop anchor to orientation. Therefore a small underwater vehicle to discharge and reclaim AUV is designed. The modeling and simulating of discharge and reclaim of AUV are described in this paper. The contents are listed as follows:Firstly,based on the systemic study and summary, this paper reviewed the ways and means of the AUV's recovery ,analyzed the crux of several creative works on the recovery problem of AUV in US and some other contries, compared the basic approximation of several different recovery methods and particularity of the research, outlined the specifics of the deep-water reclaim.Secondly, comparing the advantages and disadvantages of air-compressed-type rise-and-fall system and screw-propeller-type one, the author designed a kind of piston-type rise-and-fall system considering of the character of small size and low power consumption. It can make the small submarine receive strength evenly and can keep good stability while rising and falling.Thirdly, based on the second law of Newton and theory of hydrodynamics, the general dimensional movement equations of the submergence platform are drived. Since the general model is nonlinear and too difficult, it is reasonably simplified according to the practical experience and the theory analyse. It can make the problem much simple but not influence the central characteristic.At last, the up-and-down system is simulated by MATLAB software, the result show that the depth control can meet the request.