Motion Control System Design Of The Vectored Thruster Underwater Vehicle

With the development of science and technology,robots,as an effective auxiliary tool to assist human work,more and more applied to many areas,its emergence greatly enhances the ability of the ocean development and exploration.In recent years,to be smaller,mobility and flexibility has been a new trend,so lots of innovative researches in this area and the corresponding control methods appear.In this paper,the control algorithm and the motion control system are designed for a vectored thruster underwater vehicle,and it shows good mobility and stability in the underwater test.The specific contents of this paper are as follows:Firstly,the mathematical model of underwater vehicle is established.The motion relation of the underwater vehicle is defined by establishing the earth-fixed coordinate frame and the body-fixed coordinate frame.Then according to the principle of kinematics and dynamics,the underwater vehicle is analyzed,and the space dynamic equation is obtained,and the mathematical model of motion control is established.Secondly,the motion control theory of underwater vehicle is studied.According to the complex and uncertainties in underwater environment,active disturbance rejection controller is designed and the mathematical model of the underwater vehicle is further simplified.Then the depth and pitch control simulation model is established,and the simulation results are compared and analyzed with PID control algorithm.Again,the underwater vehicle motion control system is designed include hardware and software.The multi-axis motion controller PMAC is used as the core controller,and the control system is also concluding the servo drive system,the attitude information system and communication control software.Finally,a few tests had been done.By the unit and communication test and the underwater motion tests,the underwater vehicle shows the good mobility and the validity and feasibility of the control system are verified.