| Engineering environment of Offshore wind power has the characteristics of large waves and complex flow field,so the requirements for autonomous underwater vehicle(AUV)are also correspondingly improved clearly.In the designing of AUV,the safety and efficiency of AUV are very important.The safety problem refers to that whether AUV has enough propulsion power to resist the bad sea conditions and can complete the work along the expected route under the complex random sea conditions or not;The efficiency problem refers to how to achieve the highest efficiency when using AUV to complete the detection task.The main detection index is the time required for AUV to complete the detection task.In this paper,MATLAB software is used to verify that the global path planning algorithm can effectively shorten the detection time and improve the work efficiency;At the same time,the thrust and distribution of the thruster in the design scheme are verified to meet the requirements of engineering practice.In this paper,MATLAB software is used to verify that the global path planning algorithm can effectively shorten the detection time and improve the work efficiency;At the same time,the thrust and distribution of the thruster in the design scheme are verified to meet the requirements of engineering practice.The main contents of this paper are as followsFirstly,the development and research status of AUV at home and abroad are investigated,and the research status of path planning algorithm and path tracking algorithm applied to AUV control is studied,which provides a strong support for the overall design of AUV.Secondly,the overall detection task planning of offshore wind farm is analyzed,and the subtasks are decomposed and fused according to the detection task of pile foundation and cable,which can effectively improve the efficiency of AUV detection task;Through the mission and functional requirements,the overall design scheme of AUV is analyzed.The main objectives are focused on the most critical propulsion problem of AUV,that is,the endurance of AUV and the selection and layout of thrusters;Then,the six degree of freedom kinematics model of AUV is established: through the force analysis of AUV,and combined with the three-dimensional time domain Green function method,the accuracy of AUV’s additional mass matrix and damping matrix is higher.Finally,considering the full cruise operation characteristics of AUV for offshore wind power system,the model is simplified to a three degree of freedom kinematics and dynamics model,which lays the foundation for the cruise path tracking problem in ChapterThirdly,the third chapter divides the path planning into full cruise path planning and local path planning.At first,the reasonable planning of the detection task can effectively complete the detection task;Then,particle swarm optimization(PSO)and genetic algorithm(GA)are used to design the full cruise path planning.The cable is converted into multiple virtual points,and the hybrid algorithm is improved,and the effect is verified by MATLAB simulation;Then,based on the environmental conditions,the artificial potential field method for AUV pile foundation detection is improved and simulated;By synthesizing the above contents,the AUV in the overall design scheme is verified,and the endurance meets the requirements.Eventually,when using AUV to detect the pile foundation,we must consider whether the designed active compliance controller can control the movement of AUV in the horizontal plane under the bad sea conditions,and whether it can ensure that it can move along the planned path to avoid collision with the pile foundation.In the Simulink platform,by simulating the threelevel and four level sea conditions,that whether the AUV can move along the circle or not depens on the controller.The simulation results show that the controller is stable and effective,and can resist the fourth stage sea state,which verifies that the thrust and layout of the propeller in the overall design scheme are reasonable. |
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