Design On Motion Controller Of The Underwater Vehicle

An important factor in the increasingly wide application of Autonomous UnderwaterVehicle (AUV), The performance of its motion control that is a important factor for AUV tocomplete tasks, and the key of the motion control is the design of the motion controller. Bythe AUV of this thesis studied, this dissertation research the motion controller system of AUVbased on digital signal processor, to meet the underwater tasks requires of AUV.First of all, this dissertation draws on the research of AUV at home and abroad.According to the requires of the overall mission, this dissertation studies the overall structureof AUV, focuses on identifying the number and distribution of the propeller, and detailedresearches the stress analysis, determines the force and torque of the different direction. Thenthis dissertation builds the motion control model based on the moving coordinate system.Followed by design of the motion controller for AUV. Based on the overall designrequirements of the system, this dissertation determines the core controller for the system,then design the peripheral circuit, respectively designs the drive system, the attitudeacquisition system, speed detection system and the detection of the depth system. In the drivesystem, high-power brushless motor motion controller has been designed by the Freescalemicrocontroller as the core, can drive five-the underwater motor. Fiber-Optic StrapdownInertial Navigation system as a gesture acquisition system provide accurate and real-timeattitude information; Doppler velocimeter as the speed detection system devices composes thespeed detection system with DSP; Depth sensor as the elements for detection composes thedeep detection system with DSP.Again, this dissertation introduces the Fuzzy control algorithm, and designs the Fuzzycontrol control system based on the motion control system model, and the control algorithmof their control system, then dose the control simulation experiment and verifies thecorrectness and validity of the method. On account of the underwater interference of AUV,this dissertation analyzes the static and dynamic stability and determines the Criterion of thestability.Finally, this dissertation establishes the testing system, testes the communicationssystems and motion control unit and verifies the basic function of the system. On this basis, it dose the horizontal plane sailing test, vertical plane sailing test and route set sailing test toverify the effectiveness and feasibility of the motion control system.