AUV Underlying Motion Control Design And Simulation

Autonomous Underwater Vehicle has the following characteristics: highly nonlinear, strongly coupled, time-variable and uncertain, disturbed by current and wave, and sometimes it has special requirement for space attitude and path. For these reasons, AUV's control system must have adequate precision on motion control, and should have strong robust and nonlinear adaptability to fit the requirements mentioned above. Autonomous Underwater Vehicle underlying motion control system is one key problem of AUV's technology.Research on AUV's underlying motion control, including AUV model building and simulation, attitude control, path following control, supports high-level decision making and implementing with good control performance. And this has very important practical meaning in improving AUV's performance.The main contribution of this dissertation is summarized as following:1. Building of AUV dynamic model and kinematic model in marine environment; Simplify and disassemble equations of spatial motion based on the analysis of the mechanical characteristic of C-Ranger designed by our R&D team.2. A virtual prototype technology based AUV simulation method is proposed, in this method virtual prototype and control simulation software are used to build the AUV's model. The model building process of AUV virtual prototype physical model and control model is given based on analyzing motion and hydrodynamic mathematical model of the virtual prototype, and the AUV dynamic location control arithmetic used in this paper is simulated based on hydrodynamic. The simulation results indicate that the virtual prototype system has the function of simulation demo and performance validation.3. Applying sliding model controller(SMC) in AUV's attitude control; On the analysis of sliding model control theory , a double-loop SMC controller are designed to control AUV's attitude. With MATLAB, the attitude tracking controller is programmed and simulated. The results of simulation reveals that AUV, which is controlled by it, can response to commands immediately, the attitude controller is valid.4. Based on the analysis of non-singular terminal sliding mode (NTSM) theory and description of path following problem, main control program are designed, which is composed of three subprograms, cruise velocity controller, position controller and heading controller. Adapt key parameters of main control program to the requirements of C-Ranger model, and perform emulator. Simulation results illustrated the performance of the control system proposed, and controller works well.5. AUV virtual prototype system based panorama simulation for verification of intelligent controller; Underwater buildings are modeled in virtual environment, and educe sample map. Integrated simulation is conducted after path following main control program embedded in AUV virtual prototype system. The simulation proceeding and results proved again that path following control is validity, and AUV virtual prototype system works well.