Research On Path Tracking Control Of AUV Docking

The Autonomous Underwater Vehicle is now an important tool for humans to explore the oceans.It is moving toward military and civilian use for a more autonomous,longer working time,higher concealment,and more powerful data interaction capabilities..Due to the lack of further breakthroughs in AUV battery technology,the traditional mother ship deployment and recovery of energy supplements and data exchange brings various drawbacks,which is particularly important for AUV recycling and docking research.Especially in the complex marine environment,exploring effective recycling path tracking control methods and completing recycling tasks is a hot spot in recycling and docking technology at home and abroad,and plays an important role in the military and civilian fields.This paper mainly participated in the development of an experimental system with autonomous docking function of underwater AUV,and launched a new control method for AUV recovery 3D path tracking.The specific research contents are as follows:Firstly,the paper analyzes the research status and development trend of AUV recycling docking system and 3D path tracking method at home and abroad,and designs the overall plan of “T-SEA I” AUV recycling docking control according to the requirements of the recycling docking project.The mathematical modeling of the "T-SEA I" AUV was studied.These include the establishment of mathematical models of propellers,horizontal planes and vertical planes under the influence of ocean currents.Then focus on the "T-SEA I" AUV recycling three-dimensional path tracking control method.For the horizontal plane angle controller,a novel fuzzy sliding mode controller is designed to solve the chattering problem caused by ocean current disturbance and sliding mode control.Fuzzy controller is introduced to optimize the sign of the approach law in sliding mode control.For the depth controller,in order to solve the uncertainty of the AUV's own model and hydrodynamic parameters,a fuzzy integral S-plane control is proposed,that is,an integral term is introduced to the S-plane,and the coefficients in the S-plane are blurred.Improve controller robustness and immunity to interference.Secondly,the design of the “T-SEA I” recycling control system was carried out.It includes the software and hardware design of the AUV body and the docking station,and focuses on the MOOS underwater software based on the PC104 LINUX embedded architecture.Finally,the AUV Lake test was conducted.It includes communication and driving equipment debugging and inspection,path tracking test,and through the surface track,underwater track,underwater hexagonal tracking lake test,verifying the effectiveness of the designed controller and the stability of the AUV control system.Sexuality meets the needs of the AUV underwater docking recycling function.