Research On The Motion Control System Of Underwater Vehicle

With the development of the activities in the sea, the application of Underwater Vehicles is widespread. Motion control is very important for the study of Underwater Vehicles, and a stable and reliable motion control system is also expected to complete the task and underwater operations. A kind of Underwater Vehicle and the scheme of motion control system is designed in this thesis based on a small pool indoor as the experimental platform. This thesis discusses the system’s function of correlative module and the implementation of each module to achieve the path tracking of Underwater Vehicle, and carries on feasible demonstration of this scheme.First of all, this paper presentes the scheme of motion control system, and introduces the structure and principle of the system. The shell’shape, performance parameters, and the selection of thruster are discussed, and then the structure of the Underwater Vehicle is designed and calculated. Thrust and resistance calculation of the underwater movement are studied and according to the space motion equation of the Underwater Vehicle given, we can get the simplified mathematical model for this system. In the experiment, the implementation methods of the hardware and master computer are studied and provided, and the detail design processes of hardware and software based on LPC2148are demonstrated to output and drive control signal. The master computer is developed on the VC++6.0platform to design interface, capture and process image, identify dimensional position and complete control algorithms. Serial communication is applied between the hardware and the master computer. PID and fuzzy adaptive PID control algorithm are applied based on the mathematical model established before and simulation experiment is carried on. The results of the simulation show that the methods are adaptive to the control of the Underwater Vehicles and the scheme can meet the design requirements.