Research On Docking Control Method Of UUV Under The Condition Of Moving Base

Unmanned Underwater Vehicle(UUV)is a kind of small underwater carrier,widely used in military research,commercial and so on.In the limit of the amount of energy of energy carried by UUV,it’s necessary to select a kind of intelligent automatic recycling method.With the continuous expansion of recycling application,UUV underwater recycling has become the most important research directions.At present,most of the methods used for water lifting,for the confidentiality of UUV can not be guaranteed.In this paper,I choose the underwater recycling method,then discuss the UUV docking under the moving base condition.First of all,the paper analyzes the requirements and requirements of the docking device under the underwater environment,designs and uses the ProE to draw the 3D diagram of the docking device,and describes the differences and improvements of design relative to others.At the same time,the function of docking device in UUV docking process is expounded,and the error limit allowed during docking is introduced.Then,the mathematical model of UUV and mother ship of model are deduced,then,the UUV mathematical model is decoupled and the verified.The model is verified by simulation,which verifies the correctness of model.Unloading,control method of docking—fuzzy control are discussed in detail,and then introduces the basic theory of T-S fuzzy control theory,and the model of it’s stability is proved.According to the research,the mathematical model of the UUV to the horizontal and vertical plane decoupling,under this condition,the speed controller and depth controller were designed to control,and careful simulation.Complete the design of controller,the UUV is subject to the docking simulation experiment under fixed base condition.During this period,the docking result under the same position UUV initial heading angle is given.And I give the docking situation experiment under the fixed base condition.During this period,the docking result under the same position UUV initial heading angle is given.And gives the docking situation in the case of the initial heading angle of different mother ship,and comprehensively covers the control strategy design on the docking map,which is intended to illustrate the control strategy design and the accuracy of the controller design.Because of the movement of UUV in the near wall and no interface flow field,the hydrodynamic performance is different.In this paper,the research is carried out,and the corresponding parameters are obtained flow field flow switch,fixed dynamic docking base condition,proved before the designed controller and control strategy is correct and reasonable.Finally,this paper summarizes the whole paper,puts forward the shortcomings,and prospects for the next work.