An Autonomous Underwater Vehicle for Competition

Abstract:

The research of this paper was derived from the small autonomous underwater vehicle (AUV)Raider well performed in the 15th International Underwater Vehicle Competition (IAUVC),San Diego. In order to improve the performance of underwater vehicle, the control system of performance motion played an important role on autonomous underwater vehicles stable motion, and the whole control system of AUV is the main point. Firstly, based on the motion equations of six degrees of freedom, the paper simplified the dynamical model reasonably in allusion; Due to the speed of Raider to find the target was very low, this paper considered the speed was approximately zero and only considered the vertical motion. Therefore, this paper established the vertical hydrodynamic model of Raider, obtaining the transfer equation of vertical motion. Through the experiment and Matlab/Simulink simulation, this paper got the actual depth of the step response curve and simulation curve, and verified the validity of the vertical hydrodynamic model and the correlation coefficient.

• Periodical: Applied Mechanics and Materials (Volumes 380-384)
• Pages: 595-600
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.380-384.595
• Online since: August 2013
• Authors: Hai Tian, Bo Hu, Can Yu Liu, Guo Chao Xie, Hui Min Luo
• Keywords: AUV, Dynamic Analysis, Hydrodynamic Model

References

[1] Z.H. Song, Research on autonomous navigation system for autonomous underwater vehicle [D],. Shanghai: electronic information and electrical engineering college, Shanghai Jiao Tong University, 2007, 26-28.

[2] Aoki, Taro, etc. Advanced technologies for cruising AUV Urashima. International Joumal of Offshore and Polar Engineering, ，2008，Vol，18(2): 81-90P.

[3] J.H. Li, Pan-Mook Lee，Design of an adaptive nonlinear controller for depth control of an autonomous underwater vehicle [J],. Ocean Engineering, 2005, 32(17-18): 2165-2181.

DOI: 10.1016/j.oceaneng.2005.02.012

[4] AUV Game changer Report 2008-(2017).

[5] Y.R. Xv, Y.J. Pang, Y. Gan, Y.S. Sun, Prospect of Intelligent Underwater Robot Technology, Harbin: Harbin Engineering University Underwater Robot Technology National Key Laboratory 2006. 3: 9-16.

[6] S.S. Song. Design of AUV Modeling and Controller Based on Multiple Thrusters: [Master's Degree Thesis], The Library of Huazhong University of Science and Technology, (2006).

[7] TW Kim, J Yu h. Development of a Real–time Control Architecture for a Semi–autonomous Underwater Vehicle for Intervention Missions [J],. Control Engineering Practice, 2004 12, 1521～1530.

DOI: 10.1016/j.conengprac.2003.12.015

[8] G.Y. Kou, H. Y, G.J. Dong, Y.M. Zhou, The Appendages of the Submarine Hydrodynamic Shape Optimization Design Research, Wuhan Second Ship Design and Research Institute, Wuhan, 2013 02 156-162.

[9] G. Li, Numerical Simulation and Experimental Research on Dynamic Characteristics of the Shuttle Submersible Water, [Ph.D. Thesis], Harbin Engineering University, Harbin, (2011).

[10] X.M. Shi, Z.Q. Hao, The Fuzzy Control and Simulation of Matlab, Beijing: Publishing House of Tsinghua University; Beijing Jiaotong University press, 2008 02.

[11] F.Q. Liu, Z.M. Li, H.Z. Chen, Simulation Study on MATLAB Fuzzy Inference System,. Ship Electric Power Technology, 2006 04, 55 ~ 57.