Research On Modeling And Motion Control Of New Type Of Water Glider

The underwater vehicle is a new type of unmanned autonomous underwater robot.It changes the buoyancy by the pressure difference caused by the inner and outer bladders of the buoyancy drive system,thus changing the position of the gravity,and utilizing the torque generated by the difference in the speed of the tail quadric propeller to achieve the control of the posture,with its own high-energy batteries as the main source of power,according to the specific requirements of internal tasks it can be flexibly configured transmission components.As the current development of the technology is relatively mature,its advantages are obvious,its work is stable and reliable,flexible and highly applicable,with wide operating range and other characteristics,mainly used in marine resources exploration and military fields,with broad prospects.In this paper,the overall overview of the underwater vehicle is firstly introduced,and the mechanical structure,working principle,and movement of the underwater vehicle are introduced.Then,in order to achieve the precise control of the underwater vehicle's function,the vector matrix method,the momentum theorem,the rigid body rotation theorem and so on were used to establish the dynamic model.For the simplified mechanism model and underwater vehicle test data,the gray box system identification method based on the cross-validation feasibility analysis was used to identify the pitch and yaw channels of the aircraft during the vertical plane motion in the Matlab system identification toolbox.The transfer function's accuracy is verified.The matching degree is high and meets the design requirements.After that,the PID controller was designed on the basis of the dynamic model.The PID algorithm was used to study the uncertain model system of the aircraft.The pitch and deflection were realized by the differential control of the speed of the four-rotor propeller in different working modes.Second,according to the established PID system through Matlab simulation,including the process of pitch and deflection,its parameters were adjusted,the results show that the rational selection of PID parameters,making the system less overshoot,thesteady-state error is almost zero,The fast response speed verifies the effectiveness of PID control.In the end,the trailing pond and the Qiandao Lake were respectively tested.After many tests,the data were exported for analysis and comparison,and the control performance of the system was improved.