Three-Channel Control for the Depth of AUV and its Dynamic Performance Simulation

Peng Hua Teng; Yu Wen Zhang; Er Hu Hou

doi:10.4028/www.scientific.net/AMM.313-314.1064

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 313-314Three-Channel Control for the Depth of AUV and its...

Three-Channel Control for the Depth of AUV and its Dynamic Performance Simulation

Abstract:

The autonomous underwater vehicle can be affected by sea flow and other factors when in a motion to a certain fixed depth. To guarantee the stability of cruise trajectory of autonomous underwater vehicle and considering the influence of sea flow on its motion, the underwater six-free-degree motion mathematical model for the vehicle is established in combination with the sea flow model. Besides, dynamic features of the longitudinal plane, horizontal plane and crosswise-rolling of the vehicle at different navigation speeds are simulated with the three-channel closed-loop control system. The simulation result indicates that the vehicle can move stably at a certain depth and with the achieved accuracy by means of closed-loop control.

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Periodical:

Applied Mechanics and Materials (Volumes 313-314)

Pages:

1064-1068

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.313-314.1064

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Online since:

March 2013

Authors:

Peng Hua Teng, Yu Wen Zhang, Er Hu Hou

Keywords:

Cruise Trajectory, Depth Control, Dynamic Performance Simulation, Three-Channel Control

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