The Modeling And Control Research Of Underwater Outfield Experimental Platform

Ocean occupies 2/3 of earth surface, it is a precious wealth which can fulfill sustainable development .As the ocean attracts great attention on resources day by day, the design and utilization of underwater vehicle become more and more popular, in order to adapt the military modernization and the economic development modernization request. The study object of this thesis is a new AUV which have many handing surfaces—underwater outfield experimental platform, the thesis carried on deep research on modeling, cruise control, low speed control and tracking the fixed underwater point targets. The main contribution of this dissertation is summarized as following:1 According to the composition and characteristic of the underwater outfield experimental platform, the thesis analyze dynamics and kinematics of it, utilizing classical Newton's theorem, the dissertation have set up the space movement mathematical model. This model not only can use the normal state of cruising of the platform simulation but also can use the state of hovering of the platform simulation, which can also be used in manipulation analysis, design and simulation of control system of the platform.2 The model have very strong coupling and non-linear characteristic, in order to benefit systematic analysis and design, the thesis use sport resolving and small perturbation principle, resolving to the model and linearization.3 When the underwater outfield experimental platform is at cruise work pattern, utilizing the rudder as control inputting, the thesis study its controller design, divide the control system into the subsystem of weak coupling, on the basis of simple model, design variable structural controller separately, vertical rudder control horizontal course and plane rudder control depth.4 When the underwater outfield experimental platform is at low speed pattern, utilizing the thruster as control inputting, according to the simple linear model, inputting and outputting variable structural theories, design variable structural controller separately, vertical thruster control horizontal course and plane thruster control depth.