Research On AUV Anti-rolling Strategy

As a new type of underwater working platform,the autonomous underwater vehicle(AUV)has broad application prospects in military,commercial and academic research fields.The well control to underwater vehicles and their stable operations are the focuses of the research in all researching institutes at home and abroad.Based on the analysis and research on the development history and current situation of underwater vehicles,we determined the research focus and overall framework and designed a kind of autonomous underwater vehicle controlled by rudder propellers.This paper first introduced the structural design of the aircraft,and established the coordinate system and kinematics model according to the structural characteristics of the aircraft.Through the force analysis,the dynamic model was derived and simplified.Since the AUV needs to perform underwater operations during exercise,such as image acquisition,sonar detection,etc.,these require the stable operation of the AUV.The difficulty of the rudder propeller control is to maintain the balance and stability of the AUV hull during various kinds of movements,especially the roll control.On this basis,we designed the differential rudder control system by which the heeling is controlled.The control system and scheme were designed according to the structural characteristics of the aircraft.The motion process and the roll control under the cooperation of different rudder propellers were listed in detail,and the control methods were classified and summarized.In view of the lack of reports and information on the application of the rudder propeller control system in the AUV field,there was a lack of reference.On the contrary,The PID controller has been matured and widely used in engineering practice.Therefore,in this study,the PID control was used to build a simulation model in MATLAB software.The simulation of the control to rudder propeller motion at different speeds was carried out on the aircraft,and the roll response curve and roll adjustment curve of the aircraftwere obtained.The results of simulation showed that the PID control can effectively control the object.Finally,we introduced the software and hardware design of the control system of the aircraft.The control strategy of this paper was used to carry out a large number of experiments on AUV.The experimental data confirmed the effectiveness and feasibility of the control and the control effect was ideal.