Research On The Implemetation Of Bionic Fish Tail Propulsion Control For Submersible Dynamic Position

Submersible is widely used in many fields such as ocean salvage,ocean petroleum exploitation,national defense construction,and so on.Since the 1990 s,the research of submersible has attracted wide attention of researchers all over the world,and has made great progress.Conventional propeller have the large work of noise,low efficiency,but the application of the bionic fish-tail propulsion technology will improve those disadvantages.This paper presents the concept of the dynamic positioning by using bionic fish-tail propeller.The submersible is used as the carrier of the bionic fish tail thruster for dynamic positioning,and the control system and the principle prototype are designed,and the space motion model is established,so the feasibility of the research direction is verified by the simulation of the control algorithm and the debugging of the prototype,which provides a theoretical basis for the follow-up design and research of the dynamic positioning controller.Based on the swimming mechanism and propulsion model of the bionic fish-tail,the structural parameters and kinematic parameters of the bionic fish-tail propeller are studied in this paper.Besides,the forward propulsion force and joint torque is analyzed and calculated,which tried to make the bionic fish-tail propeller with optimal structural parameters and designed the control algorithm.It developed the attitude detection module and designed attitude transformation matrix that use the quaternion and the Euler method.According to Runge Kutta method,the quaternion are updated to realize attitude calculation.In order to increase the attitude detection accuracy,the Kalman filtering data fusion algorithm is designed.It deduces six DOF spatial motion model of submersible,validates the simulation of underwater vehicle heading control by respectively using the traditional PID control algorithm,pure fuzzy control algorithm and fuzzy adaptive PID control algorithm.Though comparison of simulation results,it be determined that the fuzzy adaptive PID control is able to control the heading of the submersible.Finally,a prototype is built to carry out the experiment in the water.The experimental results confirm that the four kinds of motion modes can be changed by using the fish-tail propeller.