Water Environment Realization And Research On Control Strategy Of AUV

With the development of underwater ships and automatic positioning technology,unmanned underwater vehicles have been widely used in the field of marine resources and engineering operations,showing good operational capabilities.The success of AUV in the marine environment has promoted the idea of producing small civilian products.However,the difference in form and water environment has brought about the impact on the hydrodynamics and control performance of AUV,which has become a difficult problem to be solved in the development and manufacture of small civilian AUVs.Based on the situation,this study carried out research on realization of water environment and control strategy for small AUV.The thesis conducted CFD numerical simulation of AUV based on Fluent in Ansys Workbench platform,revealing the flow field motion law and calculating the hydrodynamic performance parameters of AUV.Also,the thesis designed and constructed a new test pool.The drive schematic and PCB circuit board were designed in Altium Designer.The interaction interface was designed in LabVIEW,and the software automatic control program for nozzle rotation and steering was programmed.The simulation research on the positioning control strategy of AUV was carried out.The water environment of small AUV operation was simulated in Matlab.The dynamic positioning control simulation system was built in Simulink based on PID controller.The PID parameters were optimized by particle swarm optimization(PSO)and obtained better control performance,which lay the foundation for production of small civilian AUVs.