| The Unmanned Underwater Vehicle(UUV)is the main force in marine development,plays an important role in seabed resource exploration,topographic surveying,marine environment monitoring,scientific investigation and so on.However,complex dynamic properties and a changeable marine environment pose a huge challenge to UUV motion control.Therefore,it is of great practical significance to carry out UUV motion control research.In this thesis,in view of the problem of UUV motion control,the research of UUV basic control,path following control and formation path following control are carried out,and the "LX-I." portable UUV experimental platform for experimental verification is independently developed,and the research contents are as follows:Firstly,the overall design of the UUV is carried out.Determine the overall design metrics,design flow,and overall layout of the UUV.On this basis,the structural form of the UUV is selected and the shape of the UUV is designed.The shape,material and main scale of the pressure-resistant structure are determined,and the compressive strength of the pressure-resistant structure is analyzed by two methods: formula calculation and finite element analysis.The reliability design of UUV is carried out from the three aspects of connection,sealing and corrosion protection.Secondly,the design of the control system of the UUV is carried out.Clarify the design requirements of the control system,and divide the control system into two parts: software control system and hardware control system.The software control system is designed from three parts: the host computer,the communication connection and the ground station.For the hardware control system,combined with the composition block diagram of the portable UUV experimental platform,the main hardware is selected,and the assembly and debugging are carried out to complete the construction of the platform.Finally,the floating adjustment of the UUV experimental platform and the direct flight,diving and rotary tests are carried out,and the test results verified the reliability of the designed control system and ensured that the portable UUV experimental platform built could be used for experimental verification.Thirdly,the problem of UUV basic control is studied.The geodetic coordinate system and motion coordinate system are established,and the UUV six-degree-of-freedom motion model is established through coordinate conversion relations and the Newton-Euler equation.On this basis,combined with the characteristics of "LX-I.",the model is reasonably simplified,and the five-degree-of-freedom motion model of UUV is established,and the correctness of the established motion model is verified by simulation and experimental results.Design UUV fixed-speed,directional,and fixed-depth base motion controllers using the backstepping method and perform stability analysis.Simulation and experimental results verify the effectiveness of the designed controller.Finally,the UUV path following control problem is studied,which is divided into the following two aspects: UUV path following control and UUV and Unmanned Surface Vehicle(USV)formation path following control.Aiming at the UUV path following control problem,in the Serret-Frenet coordinate system,the path following error model is established by the "virtual guide" tracking method,the path parameter is added as the control quantity and the concept of approach angle is introduced,the path following controller is designed based on the backstepping method,and the stability analysis is carried out.Simulation and experimental results verify the effectiveness of the designed controller,and UUV can achieve good path following control effect.Aiming at the problem of UUV/USV formation path following control,the formation path following error model is first established,and then the formation path following control is divided into two tasks: path following and formation coordination in time.Calculate the deviation between the desired point on the reference path and the current position,and design the path following sub-controller using the backstepping method to ensure that UUV and USV travel along the desired path on the horizontal plane.Using the robust adaptive control method to design the formation coordination sub-controller,adjust the speed following the USV to maintain the desired formation,simulation and experimental results verify the effectiveness of the designed controller,both UUV and USV can accurately track the desired path and maintain the desired formation. |
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