Research On Kinematic Attitude Control Of Autonomous Underwater Vehicle

Underwater vehicle is widely used whether in military affairs or in human's production and life. In order to complete its missions successfully, the important precondition and guarantee is good kinetic control. For improving the kinetic control performance of underwater vehicle, the study of kinetic control technique has been an important subject.This thesis depends on the successful experience in designing underwater vehicles all over the world, established system of axes which can describe underwater vehicle properly firstly, then defined its space motion mathematic model. For actual requirement and the design of controller, the thesis simplified the space motion mathematic model and established horizontal kinetic equation and vertical kinetic equation, analyzed various forces, force moments etc and the relationship among speed governing system of direct current electromotor, motor speed and propulsive force when underwater vehicle was sailing in the sea, given determinations on kinetic stability of horizon plane and vertical plane.Based on the work above, this thesis represented the rationale of PID control technique, analog PID controller and digital PID controller, introduced the methods of parameters selection of the two PID controllers above, controlled trim angle, yaw angle and depth using of PID controllers and emulated their response curves.As the following, this thesis introduced the knowledge of BP neural network, described in detail the designing of BP network by some functions in MATLAB tool box, algorithm implementation of network, training and emulation of network, what's more, built BP neural network model of underwater vehicle and simulated the model under MATLAB.At last, used the control mode which PID control technique combining BP neural network technique, fused their merits, this thesis designed a BP neural network PID controller of underwater vehicle and made the emulator curves. The controller design is proved to be feasible after MATLAB emulation, it can control underwater vehicle's kinetic attitude well. As far as research and exploitation later, this has some definite referenced meaning.