Research On Joint Steering Control Technology Of Underwater Vehicle

The earth’s surface is covered with 71% ocean,which contains a large number of natural resources.As an important carrier,underwater vehicle plays a very important role in the investigation and exploration of marine resources and the application in the military.Movement of underwater vehicles is extremely complex,whether it is in the implementation of cruise measurement tasks or fixed-point task,steering control is one of the most important way to ensure movement state of underwater vehicle,so underwater vehicle steering control technology research has a very important significance.This paper mainly focuses on the steering control technology of underwater vehicle with bow horizontal rudder,stern horizontal rudder and stern vertical rudder.In order to solve the problem of joint steering control,different control strategies are used to simulate and compare performance of different strategies,and a semi-physical simulation platform is designed for testing.Firstly,a large number of references are searched,the development of underwater vehicle and control technology are summarized,and control principle of underwater vehicle steering control system is introduced.Secondly,based on the underwater motion characteristics of an underwater vehicle,a reference coordinate system of an underwater vehicle is established,at the same time,analyzing the force of the underwater vehicle,moment balance equation is established based on the principle of basic mechanics,and motion equation of underwater vehicle is obtained,the performance of the model is tested by the simulation of the rotation test and the Z type test.Then,to solve the problem of the motion control of the underwater vehicle equipped with three rudders,a joint steering control strategy based on weight switching is designed,and the joint steering control simulation of heading and depth control is carried out,by comparing with the single rudder,separation rudder control strategy for comparison,the optimal joint steering control strategy is optimized based on the comparison results.Finally,a semi-physical simulation platform for steering control is designed and established,the semi-physical platform is mainly composed of the upper computer monitoring,the electric steering gear,the underwater vehicle motion simulator and the steering task processor,which can be used for steering controller performance test.Based on the control strategy designed in this paper,the following tests are carried out on the semi-physical simulation platform,such as the follow-up steering test,heading correction control and depth correction control,and get a good test results.The results show that the designed steering control strategy has good performance and can be used in underwater vehicle steering control system.