Hovering Control Based on Buoyancy Control Approach for Under-Actuated AUVs

Abstract:

A buoyancy control system was presented to realize the powerless descent/ascent motion for an under-actuated AUV like REMUS. The sea water was injected into or drained out of the pressure water tanks to tunes the residual buoyancy of the vehicle, and the buoyancy control was realized. An engineering hovering control law based on buoyancy control approach was proposed to keep the vehicle hovering at the programmed depth. The injection and drainage instructs were worked out only based on depth data and its difference, so the hovering control system need not additional sensors. The simple and reliable hovering control system was applied to a type of huge under-actuated AUV, and the experiment results show that it is feasible.

• Periodical: Applied Mechanics and Materials (Volumes 687-691)
• Pages: 402-406
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.687-691.402
• Online since: November 2014
• Authors: Bao Gen Liu*, Yu Ling Ye
• Keywords: Buoyancy Control, Hovering Control, Powerless Descent/Ascent Motion, Under-Actuated AUV

References

[1] Lynn Renee Fodrea. Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle. MSME thesis, Naval Postgraduate School, (2002).

[2] Chen Yie. The realization of depth hovering for the deep submarine. Applied Science and Technology, 1 (1981) 34-41.

[3] Li Jianpeng. Research on Buoyancy Regulating System and Depth Control Technology of Underwater Vehicle. Master's Thesis, Harbin Engineering University, Harbin, (2010).

[4] Hyakudome. T, etc. Buoyancy Control for Deep and Long Cruising Range AUV, Proceedings of the 12th (2002) International Offshore and Polar Engineering Conference, (2002) 325-329.

[5] Yao Man. UUV Buoyancy adaptive control system based on the CAN communication. Computer Technology and its Applications，40 (2) (2014) 132-134.

[6] Jeffery S. Riedel, etc. Design and Development of Low cost Variable Buoyancy System for the Soft Grounding of Autonomous Underwater Vehicles, Naval Postgraduate School, Center of AUV Research, Monterey CA, (2005) 1-12.

DOI: 10.21236/ada436027

[7] Stephen McPhail. Autosub6000: A Deep Diving Long Range AUV. Journal of Bionic Engineer, 6(1) (2009) 55-62.

DOI: 10.1016/s1672-6529(08)60095-5

[8] Shen Mingxue. Simulation of the Descent/Ascent Motion of a Deep Manned Submersible. Journal of Ship Mechanics. 12(6) (2008) 886-893.

[9] Bian Xinqian. Research of Half Wave Buoyance Balance Adjustment and Switching Depth-keeping Control of Submersibles. Journal of Harbin Engineering University，(1) (1980) 67-78.

[10] Zhao Wende, Li Jianpeng, Zhang Mingjun, Xu Jianan. AUV Heave Motion Control Technology Based on Buoyancy Adjusting. Journal of Nanjing University of Aeronautics & Astronautics, 42(4) (2010) 411-417.