Research On Integrated Stabilization Technology Using Bionic Wing For AUV

The working functionality and efficiency of robots will be influenced by the distubrance of waves which lead to the failure of attitude control,when Autonomous Underwater Vehicle(AUV) working on the water surface or near the surface.Furtherly,the safety of AUV can be also disturbed when working on the water surface or near the surface,in the process of floating or sinking.Propeller and rudder has been regarded as the executing agency for AUV in terms of the control of gesture underwater or near the surface.Essentially, under the present research of fin stabilizer at zero speed,the rudder can be removed while substituting it with fin stabilizer at zero speed,which could be available approach.The difference of fin stabilizer at zero speed and the general fin stabilizer can be mainly seen on the ways of action and appearance,while they have much in common in terms of ways of action under sailing by adjusting angle of fin to change lift.When the speed of AUV is zero or low speed,lift is produced by the vibration of fin stabilizer at the horizontal position,which is similar to the flapping wing flight of insects and birds.The six-dimensional mathematical model of AUV is regarded as the basis in this theme.Simplification has been conducted on the Mathematical model of AUV according to the sailing situation and simulation of AUV control system. Due to the extreme complication of movement of AUV sailing in the waves, rational hypothesis has been conducted on the movement of AUV in the waves on the condition that simulation accuracy has been influenced when analyzing force condition for AUV.Under this circumstance,wave forces and moments of AUV when sailing near the surface have been calculated in terms of functions of force and moment in six-dimension such as rolling pitching yawing swaying surging and heaving whose simulation curves have been obtained with matlab.According to the deriving mechanism of lift and lift model of zero speed fin stabilizer which is regarded as the basic knowledge of zero speed fin stabilizer replacing rudder,motion control system of AUV based on the fuzzy-adaptive PID controller has been designed.After the analysis of the system,the simulation curves of rolling and pitching derived by AUV in the wave interference have been obtained.Fuzzy-adaptive PID controller is much more adaptive in terms of the nonlinearity and uncertainty of AUV system,which also presents the rationality of integrated stabilization system using bionic hydrofoil zero speed fin stabilizer for AUV.