Research On Basic Motion Control Architecture And Motion Control Technology For Underwater Vehicle

With the accelerated consumption of non-renewable resources on the land, it has becomea consensus of today’s world to develop and use the marine rationally. As an important toolfor the rational development of marine, underwater vehicle has obtained worldwide attention.The basic motion control, one of the key technologies of the underwater vehicle, determinesthe control performance of the underwater vehicle and relates to the completion of theunderwater task. Therefore, the study on the basic motion control of the underwater vehiclehas important theoretical and practical significance.Underwater vehicle is constitutive of base motion control system architecture, hardwareand software framework and control methods. In this paper, an ICE basic motion controlarchitecture for underwater vehicle is constructed according to the information layer, controllayer and execute layer which information-flow flows through. On the basis of the ICEarchitecture, hardware structure and software framework of “sea scorpion” underwater vehicleis built. A study on the basic control loops and control strategies is given, and the feasibility ofthe basic control loops and control strategies is proved by experiments.In response to the problem that traditional architecture is huge and the informationresponse is slow, basic motion control architecture, containing information-layer,control-layer and execute-layer, is built. And a study on the function and contact of theelements of the structure is given. The can include hardware, software and control methodeffectively. The demonstration for rationality of the architecture proves that information canflow smoothly and the modules can work reasonably in the architecture which can beintegrated into the underwater vehicle system organically.According to the composition of control system and the use of “sea scorpion”underwater vehicle, the “sea scorpion” underwater vehicle control system architecture is builton the basis of the ICE basic motion control system, and sensors, controllers and actuators arecombined reasonably. According to the function of the “sea scorpion” underwater vehicle, thesoftware framework is established, some important thread/task processes are designed, andthe program of software framework are packaged to achieve systematized modularization ofprogram. Kinematics model and dynamics model of6degrees of freedom underwater vehicle areestablished, and the kinematics model and dynamics model of two underwater vehicles withdifferent propeller arrangements are simplified. Research on basic control loops and controlstrategies of automatic orientation automatic depth setting and underwater hover ofunderwater vehicle is done in the paper, and it is successful that these basic control loops andcontrol strategies are applied to “TanSuo” underwater vehicle in pool experiments, whichproves the feasibility of the basic control loops and control strategies studied in this article.The information collected by the sensors contains noise and outliers, which would bringadverse effect to sensor data, thereby affect control accuracy of underwater vehicle. Due tohigh transmission frequency of FOG, complex outlier-excluding algorithm cannot be appliedto outlier-excluding of FOG data. So an outlier-excluding method based on three-point-rollingis given in this paper, and the feasibility of this method is proved through pool experiments.