Research And Design Of Underwater Vehicle Control System

As an unmanned cableless underwater vehicle,the AUV has an independent power source and control system that can perform navigation tasks in complex marine environments autonomously.Compared with the remote-controlled underwater vehicle ROV,the AUV has the advantages of low cost,low noise,deep dive,large range of motion,good stealth performance,and strong assault capability.Therefore,from the underwater survey of civil use,marine resource development,submarine engineering construction,underwater search and rescue to military anti-mine,underwater reconnaissance,underwater communication,etc.have unique advantages and broad application prospects.In recent years,with the rapid development of microelectronics,computer technology,artificial intelligence technology,miniaturized navigation equipment and control software and hardware technology,micro-small underwater vehicles have become the frontier of marine technology research in various developed countries,and are becoming systematic.The direction of intelligence,multi-functionality and clustering is developing rapidly.Based on the current research status of micro-small underwater vehicles and the motion control theory of underwater robots,a new four-rotor structure micro-small underwater vehicle is designed to achieve the following functions:(1)The navigation speed is adjustable;(2)The underwater vehicle can realize path tracking;(3)wireless signal synchronous transmission.Mainly completed the following research content:1)Based on the underwater vehicle structural design theory and 3D modeling software,the structural modeling,assembly and wiring of AUV are completed.The structure consists of: 4 sets of thrusters,screw slide center of gravity adjustment module,wireless data transmission module.,counterweight module,sealed cabin pressure shell,spherical head seal end cover,rear end cover,blade structure wing,carrier frame module,assembly structure module,single chip microcomputer,drive,wireless data transmission module,aviation waterproof plug,Lithium batteries and the like are integrated into a new four-rotor underwater vehicle through modules.2)The control system adopts a modular design method,which mainly includes: control module,central control system;motion control system;information measurement system.It mainly controls the navigation depth,navigation speed,yaw angle and sliding speed of the AUV.The main control circuit includes two sets of circuits,wireless and wired,which are responsible for completing data acquisition,control and communication tasks,wherein the wired main control circuit plays a debugging role.The information measurement system includes AUV internal state information measurement and external parameter information measurement,which mainly completes the monitoring of various parameters in the “OI-1” cabin.3)The dynamic model of AUV is established.The dynamic simulation model is built based on MATLAB/Simulink.The motion law of the aircraft is calculated and analyzed,and compared with the underwater test results.On this basis,based on the fuzzy control algorithm and the PID algorithm,after setting the hydrodynamic parameters,the MATLAB simulation experiment is used to verify the accuracy of the two algorithm controllers.4)The underwater test of AUV is carried out to verify the reliability of the overall mechanical structure.The actual motion verification of the two algorithms is performed on the AUV.The reliability of the algorithm is verified by circular motion and linear underwater experiments.At the same time,each sensor is displayed on the host computer interface through the data acquisition card integration data,which is used to verify the functions of switching manual control and autonomous navigation.The stability and accuracy of navigation of the two algorithms are verified by GPS positioning coordinates,and the path planning is realized by the mean processing of the two algorithms.The above overall design and experimental results show that the structure design of AUV is reasonable,and the correctness of the AUV motion model is verified by simulation experiments.Finally,based on fuzzy control and PID control to achieve path planning,the specified action can be completed,and the underwater vehicle can meet the expected requirements.