Research On Adaptive Control Method For UUV Under Strong Disturbance Caused By Load Deployment

As UUV is widely used in the field of national defense and commercial areas,scientific research institutions are trying to develop a new kind of UUV for the successful implementation of the load carrying and deployment.Load deployment is a very complex process,which involves the reaction force generated by the load deployment,the impact on UUV resulted from water replenishment tank,and the interference caused by currents.It is crucial for the successful implementation of the load deployment that how to maintain the position and attitude of the UUV under the various interference.This peper is based on strong interference caused by load deployment UUV stability control for the following research work:First of all,built the UUV kinematic and dynamic model,and introduce the various method for load deployment.In comparing the various methods,Swim-out grid tube deployment method is feasible.The article carries on the analysis and the simulation of the whole process to draw the velocity time curve and travel time curve of the load in the tube.Water tank is designed to compensate for the negative buoyancy,and water flooding process is more detailed analysis to obtain the influent equation.Secondly,according to the thruster configuration scheme,this paper proves that UUV has the ability to maintain attitude from the view of theory.Through the analysis of the specific engineering background of load deployment,obtains the disturbance which is mainly affected by the ocean current disturbance and load deployment disturbance.We conclude that the current disturbance and load deployment disturbance are the main interference source.As the compensation for current disturbance,relationship curve is obtained,which describes the relationship of the current direction angle and the maximum current speed under this current direction angle.To compensate load deployment disturbance,this article respectively analyzes the force and moment on UUV.An adaptive fuzzy sliding mode controller is designed to keep UUV posture and attitude during the load deployment.In order to overcome the interference,the sliding mode controller is introduced into the control system.And the adaptive fuzzy method is also introduced to solve the problem of chattering on sliding mode surface and uncertain disturbance.Finally,the designed controller is verified by simulation.The paper designs two simulation cases:one is that UUV arrives at the work place under the ocean current disturbance;the other is that UUV maintains its own attitude under disturbance resulted from load deployment.The simulation results show that,the adaptive fuzzy sliding mode controller has a good performance in response to different disturbances,and better effectively reduces the system chattering.