Optimized Depth Control of Underwater Vehicle with Fins

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.

• Periodical: Applied Mechanics and Materials (Volumes 66-68)
• Pages: 328-333
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.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

References

[1] Kumar, R. P., Babu, S. S., Srilekha, Y., Kumar, C. S., Sen, D., and Dasgupta, A., 2006. Test-bed for Navigation and Control of a Thruster based AUV. OCEANS 2006 - Asia Pacific. May: 136~144.

DOI: 10.1109/oceansap.2006.4393968

[2] Evans, J., Redmond, P., Plakas, C., Hamilton, K., and Lane, D., 2003. Autonomous Docking for Intervention-AUVs using Sonar and Video-based Real-time 3D Pose Estimation. OCEANS 2003. Proceedings, Vol4. Sept: 2201~2210.

DOI: 10.1109/oceans.2003.178243

[3] Hyakudome, T., Tsukioka, S., Yoshida, H., Sawa, T., Ishibashi, S., Ishikawa, A., Watanabe, K., Nakamura, M. and Anki, T., 2009. Autonomous Underwater Vehicle for Surveying Deep Ocean. Industrial Technology. EEE International Conference on ICIT 2009. Feb: 1537~1545.

DOI: 10.1109/icit.2009.4939646

[4] Ishibashi, S., 2007. The Improvement of the Prescision of an Inertial Navigation System for AUV based on the Neural Network. OCEANS 2006 - Asia Pacific. May: 2315~2327.

DOI: 10.1109/oceansap.2006.4393828

[5] McPhail, S. D., Furlong, M. E, Perrett, J. R, Stevenson, P., Webb, A. and White, D., 2009. Exploring beneath the PIG Ice Shelf with the Autosub3 AUV. OCEANS 2009. May: 213~222.

DOI: 10.1109/oceanse.2009.5278170

[6] Furlong, M. E., McPhail, S. D. and Stevenson, P., 2007. A Concept Design for an Ultra-Long-Range Survey Class AUV. OCEANS 2007 – Europe. June: 568~575.

DOI: 10.1109/oceanse.2007.4302453

[7] Gan Y., Wang L. R., Wan L., Xu Y. R. 2005. Parallel Neural Network-Based Motion Controller for Autonomous Underwater Vehicle, China Ocean Engineering, 19(3): 485~496.

[8] Li Y., Pang Y. J., Wan L., Wang F., Liao Y. L., 2009. Stability Analysis of AUV Speed Control System, China Ocean Engineering, 23 (2): 345~354.

[9] Li Y., 2007. Research on Motion Control Technology for Mini Underwater Vehicle, Doctor Thesis, Harbin Engineering University. ( in Chinese).