Design And Implementation Of AUV Motion Control System

In recent years,with the increasing intensity of human exploitation and utilization of marine resources,AUV plays an important role in exploring and exploiting the marine resources.In order to accomplish complex tasks more efficiently,stable and precise control of the AUV must be required.However,because AUV is a nonlinear,coupled,hydrodynamic system,precise control of its motion poses a significant challenge.In order to control the AUV better,the author apply fuzzy inference theory to the design of controller and guidance law,the simulation analysis is carried out and the experimental verification is completed on the ”Swordfish II” autonomous unmanned submersible platform.Firstly,the fixed coordinate system and the kinematic coordinate system are established.The equations of motion and dynamics are deduced from the physical formulas.AUV modeling is done under the MATLAB / Simulink with a 6 DOF Euler angle module;By analogy with the structure and movement characteristics of the ”Sparus II” submarine,a ”Swordfish II” hydrodynamic model is established;According to the performance test data of wheel rim drive,the non-linear and dead zone model of the rim drive is established.Secondly,the classical PID control method is used to design and implement the AUV attitude and position control system.The simulation analysis and experimental test are carried out to verify the correctness of the system.The problems of this method are also analyzed,such as overshoot,oscillation,settling time Too long.PID control is simple and stable,robustness;fuzzy control contains the expertise and ideas of experts.Combining the respective advantages of PID control and fuzzy control,a fuzzy self-tuning PID control method is proposed and a fuzzy self-tuning PID controller is designed.The simulation analysis is carried out to solve the problem that the overshoot,oscillation,stable time Long and other issues.Thirdly,the LOS guidance method is used to build the guidance control system.The simulation and analysis are carried out.According to the ”Swordfish II” submarine,the LOS guidance method and the fuzzy control are combined,and the fuzzy LOS guidance law is proposed and designed.The simulation analysis and experimental verification show that the designed fuzzy LOS guidance law can save energy and save more time.Finally,introduced the software and hardware system of ”Swordfish II”,designed and implemented the AUV monitoring software based on ROS and QT,and tested the function and stability of the software in the experiment,which has been able to be used normally,and remote control has become more simple and efficient.