Modeling And Controller Design Based On Multiple Thresters Of Autonomous Underwater Vehicle

The Autonomous Underwater Vehicle (AUV) is applied in the ocean salvage, the deep sea resources investigation, the ocean petroleum mine, underwater engineering construction, the military and national defenses etc. It has produced the huge economic performance and social performances, and it has latent applied foreground. The AUV technique is also hot point that the international community invests huge money in study.The input of the most of traditional AUV is rudder. It can control well for high speed cruising. When speed is low, the efficiency of the rudder is very low; when speed is zero, the rudder out of control. This dissertation basing on the traditional AUV adds up two main thrusters, two vertical and two horizontal thrusters. The AUV has the stronger flexibility and maneuver. Make it not only can work in the high speed cruising, but also can work in the low speed hovering, even if the speed is zero.This dissertation's main work and innovations is following:1. The 6DOF kinematic and dynamic equations of motion for multiple thrusters AUV (MTAUV) are derived and presented in a compact form using vector notation. The hydrokinetics of the MTAUV is classified anew. The MTAUV has two kinds of work modes which are cruising and hovering. The fluid dynamical mathematics description of the MTAUV is given anew.2. The kinetics equations of the MTAUV in the low speed hovering are analyzed and studied. The non-linear equations of motion are decomposed vertical plane and horizontal plane. The MTAUV has big attack angle and big side slide angle when in the low speed hovering. The method of linearization is given in this situation. Use the small disturb principle, the linear dynamic equations are derived.3. Because of the MTAUV has multiple thrusters and rudders, the multi-input and multi-output (MIMO) sliding mode control is introduced. According to the theory, the sliding mode controller is designed. The function which the control use thrustersin the low speed hovering and the control use rudders in the high speed cruising is completed. The result of the simulation is good.4. The consociation control of the thrusters and rudders is studied. The depth control of vertical thrusters and plane rudders and the consociation control of vertical thrusters, horizontal thrusters and rudders are given. The fixed-point tracing problem is studied. The result of the simulation is given.