Control System Design For Micro AUV

With the increasing attention to ocean development,AUV(Autonomous Underwater Robot)has become an important technical equipment,which concerned and researched by major powers in the world.Because of its small size,light weight,low manufacturing cost and strong concealment,Micro AUV has become an important trend in the development of AUV worldwide.As the core of the Micro AUV,the performance of the control system affects the overall performance of MicroAUV.Therefore,this paper focuses on the control system of the Micro AUV,including the hardware and software design of the control system and the motion control algorithm.The research results can not only meet the basic functional requirements of autonomous navigation and operation of Micro AUV,but also have the advantages of modularization and portability.Firstly,the basic functions and mission tasks of the Micro AUV are demonstrated and analyzed.On this basis,the overall design scheme of the control system is determined.Secondly,the hardware design and software design of the control system are completed.The hardware system is mainly about the selection of specific equipment.The main controller and node controller adopt the popular open source hardware to reduce the cost.Then,according to the open source hardware data interface,we choose sensors and motor drivers.The software system is built based on MOOS system.At the same time,the whole software system is divided into four layers:supervision layer,mission layer,execution layer and equipment layer.Finally,according to the unique pump-jet control mode of the micro-underwater vehicle,based on the study of the dynamic analysis of the traditional tail-rudder control,the establishment of the dynamic model of the Micro AUV and the study of the motion control algorithm are completed.The main research contents of motion control algorithms include PID motion control algorithm and model predictive control algorithm.The effectiveness of the two control algorithms is verified by simulation.Meanwhile,the advantages and disadvantages of the two control algorithms are compared.After the development of the prototype and the debugging of the shore,the Micro AUV was tested under the actual conditions in Hunhe River and Xiuhu Lake in Shenyang respectively.During the period,the control system runs steadily,and the test results met expectations.