Design Of Surge Simulation Platform For Underwater Vehicle

When underwater vehicles are in performing their tasks, the surge disturbance isinevitable. At present, most applications of developed underwater vehicles are indeep water, few of them are on the surge problem of rivers or other shallow waters.This project is the study of shallow waters anti-surge control based on underwatervehicles. In order to test the quality of the anti-surge control system, a series ofrelated experiments are needed. However, experiments in real water environment aretime-consuming and underwater surge hard to control, also need to consider someenvironmental factors. Surge simulation platform can solve these problems. It cannot only simulate collected data, can also simulate sustain predict surge data afteradding surge prediction algorithm. So surge simulation platform design hasimportant significance.This topic designed a simulation platform for verifying the algorithm ofanti-surge control system. It makes simulating shallow water surge in laboratorypossible. In order to achieve stable and reliable control of motion, position andattitude, this design is divided into two parts: the motion simulation systems andactive balancing system. Motion simulation system is mainly to forecast andsimulate the experiment surge based on data collected from experiments. Activebalancing system is primarily to achieve a comprehensive underwater vehicleattitude adjustment through adjusting the center of gravity.This paper introduced the current research of motion simulation and designed asimulation platform. In motion simulation system, mechanical part was designed andmodeled; in the active balancing system, hardware part and control part weredesigned. Its control part consists of upper control system and bottom control system.The inverse kinematics calculation and fractal prediction algorithm wereaccomplished by using MATLAB and LABVIEW combined programming. Besides,data monitoring, command sending and system fault protection functions were accomplished by writing human-computer interaction interface with LABVIEW.What s more, closed-loop control was implemented with the feedback of attitudesensor.