Research On Motion Control Method For Underwater Vehicles Based On RBF Network And Adaptive Sliding Mode

With the accelerating exploitation process of ocean resource,the application scope of underwater vehicles has been gradually expanded,and the vehicles' operational capability in the ocean has also attracted the attention of many scientific research institutions at home and abroad.Operating underwater vehicle is a kind of underwater vehicles which can accomplish underwater operating task by carrying the manipulator.It has a wide application prospect in resource exploration and underwater engineering.However,with the expansion of the manipulator,it will change the force of the operating underwater vehicle in the water,which will change the dynamic model.This change will affect the control accuracy of the operating underwater vehicle,and decrease the success rate of operations.Therefore,the research on the influence of the expansion of the manipulator on the dynamic performance and the motion control method of the operating underwater vehicle appear important research significance and application value.In order to verify the effectiveness of the motion control method by carrying out the pool experiment through an experimental platform,this paper developed the "UVIC-I" autonomous underwater vehicle experimental platform.This paper mainly design the overall structure of the vehicle,the pressure of the cabin and the main body.In order to ensure the strength of the parts,the strength analysis is carried out by using Ansys Workbench.In order to obtain the relevant information of the underwater vehicle in real time,this paper chooses the relevant sensors for the vehicle.In order to make the underwater vehicle realize the basic movement,the propeller is selected and the arrangement method is determined.According to the "UVIC-I" underwater vehicle motion control requirements,design vehicle's hardware and software control system.In order to analyze the motion law of underwater vehicle and provide support for the simulation research,this paper studies the kinematics and force of the 6-DOF underwater vehicle and then establishes the dynamic model of the "UVIC-I" underwater vehicle.In order to verify the effect of the method to approximate the model change,in this paper,pool experiments are carried out to identify the parameter of the dynamic model.In order to verify the performance of the dynamics model,this paper uses the "UVIC-I" underwater vehicle experiment platform to carry out the bow and vertical dynamic model pool experiment.Operating underwater vehicle is strong coupling,non-linearity,time-varying parameters and in order to overcome the shortcomings of conventional sliding mode control for underwater vehicle,a RBF network adaptive sliding mode controller is designed by using the saturation function instead of the sign function and using the RBF network to approximate the uncertainties in the dynamic model caused by the manipulator.In order to verify the effectiveness of the controller,this paper uses Matlab/Simulink to carry out the simulation experiment of the bow and vertical motion control,and compared with the simulation results of the conventional sliding mode controller.In order to verify the motion control effect of RBF network adaptive sliding mode controller for the operating underwater vehicle,this paper uses the "UVIC-I" underwater vehicle experiment platform to carry out a variety of the motion control experiments in the pool and compares with the results of the conventional sliding mode controller.In order to verify the control effect of the controller on the single-degree-of-freedom motion of the vehicle,this paper uses the "UVIC-I" underwater vehicle to carry out the bow and vertical motion control pool experiments respectively.In order to verify the control effect of the controller on the joint motion,this paper carries out the control experiment of the bow and vertical joint motion control and compares the results of the single-degree-of-freedom motion control experiment.In order to verify the ability of the controller to resist the external interference,this paper carries out the bow and vertical joint motion control experiment under the simulated ocean disturbance and compared with the results without interference.