Research On Control Technology Of AUV's Balance System

Autonomous Underwater Vehicle (AUV) is one thing that a lot of high technologies are integrated with. The control problem is one of the most demanding problems of AUV that need to be researched and addressed. There are Zero-raise force and Zero-raise moment in the navigation process. There is the certain extent positive buoyancy in the navigation process also. The motion control of AUV will be influenced by Zero-raise force and Zero-raise moment and the positive buoyancy. The angle of elevator must be steered to conquer the influences. The maneuverability of the elevator would be influenced and more energy would be consumed in the navigation process. So we must find methods to solve these problems. On this background, the dissertation based on above problems to research the application of the balanced system of the AUV on the control of AUV. The most important application is to compensate the angle of elevator with the balanced system of the AUV.Firstly, the mathematical models of vertical motion and of actuators(elevator and the balanced system) of AUV were established. Then the mathematical models of vertical motion of AUV were validated by simulation.Secondly, the fuzzy control theory and the self-adapted fuzzy control algorithm were discussed in the dissertation. Then the design and application of self-adapted fuzzy control that based on optimization of the adapted variable were discussed.Thirdly, the application of the balanced system on the static balance of AUV was studied. The relatively self-adapted fuzzy controllers were designed and the simulations of the static balance were studied.Finally, the lake test data was researched in the dissertation and the reasons of the large angle of the elevator that occurred in the lake test was studied. Then AUV's velocity controller and pitch controller were founded. The balanced system was applied to compensate the angle of AUV's elevator that different control strategies were discussed in the dissertation. The aim was to improve the AUV's maneuverability and security and to save AUV's energy. In addition, the motion of AUV when it navigates near surface in fixed-depth was researched. Aimed at the characteristic of the second-order wave force, the balanced system was used to overcome the influence of the second-order wave force. The relatively simulations were studied and it was proved that the balanced system could compensate the angle of elevator.