Stability Control of Propeller Autonomous Underwater Vehicle Based on Combined Sections Method

Polish Maritime Research

Feng Jinfu¹  Xu Hu¹  Hu Junhua¹  Liu An¹  Qi Duo¹  Ashraf Muhammad Aqeel²  Li Yongli³ 

[1] Aeronautics and Astronautics Engineering College, Air Force Engineering University, Xi’an 710038, China;Department of Geology, Faculty of Science, University Of Malaya 50603 Kuala Lumpur, Malaysia;Engineering University of CAPF, Xi’an 710086, China;

关键词: propeller auv;    dynamic model;    stability control;    simulation;   

DOI  :  10.1515/pomr-2015-0048

来源: DOAJ

【 摘 要 】

Learning from the motion principle of quadrotor, a symmetric propeller AUV, which has small size and low velocity is designed. Compared with the AUV equipped with rudders, it has better maneuverability and manipulation at low velocity. According to the Newton-Euler method, the 6 DOF kinematic model and dynamic model of the propeller AUV are established. A stability controller that consists of 3 different PID controllers is designed. It makes the depth and attitude angle as trigger conditions, and the relevant controller is chosen in different moving process. The simulation experiments simulate ideal motion state and disturbed motion state, and experiments results show that the stability controller based on combined sections method can make the best of mature technology of PID, and meet the control requirements in different stages. It has a higher respond speed and accuracy, improving the stability of the propeller AUV under the disturbance of complex ocean currents.

【 授权许可】

Unknown