Research On Controller Design And Experiments For Station-Keeping Underwater Vehicle With Four Thrusters

Since the 20th century, with the rapid development of world economy, it has brought the people the wealth and enjoyment. But it consumes large number of limited resources on land and offshore. Countries have to face the growing shortage of resources. So people put their sights on the ocean, and try the best to research and develope the deep-sea mining technology. In the deep-sea mining technology, it is the breakthrough in deep-sea mining that how to detect the mining ship heave motion that provide control signals to compensation system. The detection of the mining ship's heave motion needs a frame as a reference. But in deep-sea environment, it is difficult to find a suitable stationary reference frame as the benchmark.So laboratory of hydraulic in Guangdong University of Technology came up with the method that use the submersible as the reference frame, and had done a deal of preliminary study.This paper based on the prior research achievements, mainly contain the following points:1.To illustrate the importance of coordinate submersible, and review the group's achievements briefly. Then debug the propellers and the feedback loops of the depth of the coordinate submersible.2.The paper introduced the identification methods of coordinate submersible's parameters. Then, complete the identification experiment, and obtain the submersible model parameters.3.Lyapunov stability is used to analyze the stability of the submersible, and prove the coordinate submersible is stable and controllable through it.4.The simulation system is established under the xPC environment. And carry out experiment with PID, adaptive controller. The results show that the adaptive controller achieves excellent control effect. The achievements of this paper can provide a reference to the Design of the reference frame of the ships in the future.