AUV modeling and motion control strategy design

Authors: Fang Wang Lei Wan Yumin Su Yuru Xu

Publish Date: 2010/11/25

Volume: 9, Issue: 4, Pages: 379-385

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Abstract

To provide a suitable model for AUV simulation and control purposes a general nonlinear dynamic model including a novel thruster hydrodynamics model was derived Based on the modeling method the “AUVXX” simulation platform was established to carry out fundamental tests on its motion characteristics stability and controllability A motion control strategy consisting of both position and speed control in a horizontal plane was designed for different task assignments of underwater vehicles Combined control of heave and pitch was adopted to compensate for the reduction of vertical tunnel thrusters when the vehicle is moving at a high speed An improved Ssurface controller based on the capacitor plate model was developed with flexible gain selections made possible by different forms of restricting the error and changing the rate of the error Simulation results show that the derived general mathematical model together with simulation platform can provide a test bed for fundamental tests of motion control Additionally the capacitor plate model Ssurface control shows a good performance in guiding the vehicle to achieve the desired position and speed with sufficient accuracyYuru Xu was born in 1942 He is the subject leader of Naval Architecture and Ocean Engineering the national key discipline of Harbin Engineering University For more than 30 years he managed and fulfilled many creative engineering research projects especially for the fast development technology of Autonomous Underwater Vehicles in China He has made important contributions to the system simulation intelligent control architecture system integration etc in this field He was elected a member of Chinese Academy of Engineering in 2003

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