Research On Movement Modeling And Control System Of A Submergence Platform

While people are paying more and more attention to oceanic resource, underwater vehicles are more and more frequently used as tools of oceanic reconnaissance and deep-sea work at present. How to set free and take back underwater vehicles safely, efficiently and economically, has become a difficult problem which must be dealt with. The object studied in this paper, a submergence platform, comes forth under this background.This paper aims to develop a secure, efficient and economical submergence platform, mainly researches the control system of the submergence platform, and has done four aspects on this study. Firstly, the motion model of the submergence platform is founded; PID control algorithm is used to improve the movement capability; the improving result is proved by the motion simulation. There are seven thrusters used in the submergence platform, which make that the submergence platform can move in 6 degrees space. Secondly, acoustic communication is used to replace the cable communication which is used on all submergence platforms at present, which expands motion space of the submergence platform. At the same time, convolution encoding and orthogonal frequency division multiplexing technique are used to solve problems of acoustic communication. Thirdly, on the base of acoustic communication, the short-baseline location system is used to position and navigate the submergence platform. Fourthly, after rational layout, the whole control system is divided into two parts: the surface control system and underwater control system. Simultaneously, for these tow part, all functions are carved up, and hardware and software are designed. In the surface control system, VB 6.0 is used to write interactive, visual and modularized programme; in the underwater system, MSP430 and C language are used.In order to prove that theories and design are right, use MATLAB software to simulate the PID control system, and test the control system. The results say that design thoughts and design schemes are right, and the design achieves initial aim.