| In the process of human exploration and development of the ocean,underwater operation equipment plays a key role in the civilian and military fields.With the development of science and technology,human beings have higher and higher requirements for the performance of underwater robots.The performance of underwater robots is mainly determined by a reliable motion control system and a stable and energy-saving power system.Therefore,a distributed motion control strategy is proposed to realize the motion control of the Autonomous Underwater Vehicle(AUV).series of research work.Firstly,the motion characteristics of the designed AUV were clarified,and the six-degreeof-freedom motion model of the AUV was established by using rigid body kinematics and related mechanics theories,and a reasonable simplification of the motion equations laid the foundation for subsequent simulations.The complexity of the AUV motion and the nonlinearity of the external environment require decoupling of its motion,which is divided into two planes of motion analysis,and the motion control model is obtained.In the distributed motion control system,not only the distributed structure is used in the control structure framework,but also the distributed proportional-integral-derivative controller(Proportion Integration Differentiation,referred to as PID)algorithm is used in the control algorithm.throughout the overall motion control system.Based on the PID control strategy,Matlab/Simulink software tool is used to build a distributed motion control simulation platform,and two external environments with and without wave flow are simulated for simulation,and the simulation results are analyzed.In the power system design,a buoyancy drive mechanism is designed,and the torque to be endured by the drive motor is calculated according to Pascal’s principle to verify that the drive motor meets the performance requirements.The realization process of the floating motion of AUV is analyzed in the form of theoretical calculation,and the designed buoyancy drive mechanism is verified by experiments to complete the task of depth determination.The parameters of the thruster are introduced,the fixed bracket and thrust test platform of the thruster inside the shell are designed,and the curve of speed and thrust is obtained through the test.Finally,the relationship between the speed and the sailing resistance provided by the power plant operation to the AUV is analyzed by fluid mechanics simulation,and the resistance is smaller while meeting the speed requirement. |
