Design And Implementation Of Autopilot For AUV

Autonomous Underwater Vehicle (AUV), applied in the ocean resources investigation, the port security, the aquatic agriculture etc, is a research hotspot around the word. The autopilot as an important part of autonomous underwater vehicle, is the key to ensure the AUV stable and controlled work in the sea. In the future, along with the working environment of AUV becoming even worse, we will have higher requirements for autopilot. So all countries have begun to explore more effective and stable design scheme for autopilot.The purpose of this paper is to study the design and implementation of autopilot for AUV. First, this paper introduces the domestic and foreign research status, development trend on AUV, and summaries the technique of autopilot, the research significance on AUV. Then, the whole system of the autopilot on AUV is introduced. After that, this paper explains more detail about the software design, motion control algorithm and hardware structure of the autopilot on AUV. This paper focuses on the realization ofthe automatic driving system for AUV.In the hardware design, the CAN bus, formed a distributed system, realize the "peer-to-peer" communication between the host, enlarge the amount of information, and the expansion of this system is enhanced. In the software design, ucos as embedded operating system, has the advantage of strong real-time performance, high reliability, easy transplanting, and it can meet the needs of the AUV. In addition, this paper introduces some algorithms, which are relevant to autopilot on SUV, and mainly study the motion control algorithm. At present, the motion control of AUV is divided into two structures of distributed and centralized, and the distributed motion control algorithm is universal and suitable for the AUV with multi degrees of freedom. The control method includes fuzzy control, PID control, adaptive control, sliding move variable structure control, neural network control and son on, and the combination of the above algorithms, such as adaptive PID, fuzzy neural network and so on. This paper adopts distributed PID control algorithm, based on the prototype of torpedo AUV and simulated in MATLAB. The results show that the PID control algorithm design is reasonable and effective.