Study On Key Technology Of Unmanned Underwater Vehicles

Submarine resources exploration and environmental monitoring is becoming more and more significant for mankind,which promoted the research of underwater survey platform.However,the changeable underwater environment leads to the high-risk feature of underwater operation.Along with the development of underwater measurement technology,UUV(Unmanned Underwater Vehicle) is being used in the underwater survey platform.At the same time,the considerable progress of automatic control technology and information technology accelerated the development of UUV.The motion control system of underwater vehicle firstly requires the correct judgment of the changeable underwater environment and the state of itself,which is relied on the sensor and underwater measurement techniques.And then the system adapts the non-normal states with appropriate algorithm to complete the mission correctly and efficiently at last.This subject is concentrated on the research of motion control system and motion control algorithm which is based on a specific underwater vehicle.The whole control system of this vehicle is composed of movement control system,active collision avoidance system,depth keep and posture control system,information system and underwater acoustic communication system.The prevalent DSP(Digital Signal Processor) system was used in this motion control system.Receiving the heading direction information from gyro compass and the location information from underwater location instrument,and through the appropriate algorithm,the motion control system can adjust the three DC permanent magnet motors to appropriate output.In consequence,the whole motion control system can implement desired efficiency and stability,as well as the efficient control.This paper firstly introduces the research status and research prospects of UUV, and analyzes the specific underwater vehicle of this subject.And then introduces the design method and procedure of the hardware and software systems of the vehicle in details.The last part of the paper is the introduction of simulation and experimental methods and results,including the result analysis land-based simulation experiment and vehicle experiment.This research has considerably practical significance in the relational project and the development of underwater survey in the future.