Paper Title:

Optimized Depth Control of Underwater Vehicle with Fins

Periodical Applied Mechanics and Materials (Volumes 66 - 68)
Main Theme Mechanical, Materials and Manufacturing Engineering
Edited by Honghua Tan
Pages 328-333
DOI 10.4028/www.scientific.net/AMM.66-68.328
Citation Ye Li et al., 2011, Applied Mechanics and Materials, 66-68, 328
Online since July, 2011
Authors Ye Li, Yong Jie Pang, Shu Ling Huang, Peng Yun Chen
Keywords Depth, Fin, Motion Control, Underwater Vehicle
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Abstract

Underwater vehicle plays an important role in ocean engineering. Depth control by fin is one of the difficulties for underwater vehicle in motion control. Depth control is indirect due to the freedom coupling between trim and axial motion. It is included the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm. Considering the current speed and depth deviation, comprehensive interpretation is used in object-planning instruction. Expected depth is transformed into expected trim. Dynamic output fluctuation can be avoided, which is caused by linear mapping of deviation. It is steady and accurate for the motion of controlled underwater vehicle. The feasibility and efficiency are testified in the pool and natural area for experiments.