Research On Underwater Vehicle Docking Assemblv And Control Algorithms

As our country is developing deepocean equipment rapidly,submarine space station has become one of the key technologies in deep-see field.The concept of submarine shuttle has been proposed as a great support for submarine space station,such as exchanging aquanauts,food,other supplies and cooperating engineering works in deep ocean.Underwater docking is the key technology for submarine shuttle to support submarine space station.Therefore,in order to develop the technologies of underwater docking,some research based on a three-body AUV about this has been done in this paper,a kind of underwater docking structure has been discussed and designed,and AUV motion control methods have been dug in.There are 6 chapters in this paper:In Chapter 1,introduced the research background of the project and the research status of submarine space station and underwater vehicle.To overcome some problems of underwater docking technologies,briefly discussed the main works of the project.In Chapter 2,introducedthe parameters ofthe three-bodyAUV,as well as the screw propellers and sensors.And the mathematical model of three-body AUV has been established.As we are mainly focusing on the depth and steering control of AUV,and the distribution of propellers are easily decoupled,the model of depth and steering of AUV are simplified and established respectively,for the convenience of the simulation of the controller.In Chapter 3,devices for imitating underwater docking between submarine space station and submarine shuttle had been designed,as well as the hydraulic system devices for locking,assuring the reliable connection and lock between these two underwater vehicle.In Chapter 4,AUV platformhas the features that the parameters are time-varied and there exist large uncertainties and external disturbances.Aiming to these feathers,a controller designed based on Time Delay Estimation Control Algorism has been proposed applying in the depth control of AUV,and the stability has been proven.In the simulation and experiment of the depth control of AUV,the controller showed the advantages of easily being able to designed and tuned,and gave a better controlling performance.Directing the feather of low data frequency of digital campus,a controller based on the combination of TDE algorism and Integral Sliding Mode Robust Control Algorism has been proposed,and the stability has been proven.In the experiment of the steering control of AUV,this controller shows a smaller tracking error,which means it has a better control performance.In Chapter 5,used three-body AUV platform to do the underwater docking experiment,and give a brief analysis of the result.In Chapter 6,gave a total summary to this paper,and proposed the some directions of future works to overcome existing problems.