Research On Kinematic Stability Of Autonomous Underwater Vehicle

Kinematic stability, whether for fundamental research or application is a critical problem. Furthermore, the research of kinematic stability often play a key role in a project whether can be accomplished. Research on kinematic stability of Autonomous Underwater Vehicle includes choosing the structure with good kinematic stability and analyzing the kinematic stability by theory research and experiment. The purpose of research is laying a foundation of manipulation and control system of AUV.This thesis depends on the successful experience in designing underwater vehicles all the world, through the study of structure factors of underwater vehicles, designs the structure of the Three-body Seven-propeller Underwater Environment Observing Vehicle successfully and presents the relative rule and method of body balance. Based on these theories, analyzes the property of hydrodynamics force and builds the model of the robot. In final, judges the kinematic stability of the robot by analyzing and experimenting. It is proved by the result of the analysis and experiment that Three-body Seven-propeller Underwater Vehicle is suitable to be used for environment observing.The thesis includes six chapters.Chapter 1 firstly introduces the background of underwater vehicles, then analyzes the advantages and disadvantages of present underwater vehicles, and its developing trend. In final, puts forward the purpose, significance and main content of this project.In chapter 2, through the study of structure factors of underwater vehicles, designs the structure of the Three-body Seven-propeller Underwater Environment Observing Vehicle successfully, and puts forward the relative rule and method of body balance.Chapter 3 analyzes the property of hydrodynamics force of underwater vehicles, then builds the hydrodynamics force model for the Three-body Seven-propeller Underwater Vehicle.Chapter 4 bases on mathematic model and force simulation, analyzes the kinematic stability of Three-body Seven-propeller Environment Observing Underwater Vehicle.Chapter 5 through designing three group experiments to demonstrate kinematic stability of the robot, the experiments include laboratory pool kinematic stability experiment in horizontal plane, laboratory pool kinematic stability experiment in vertical plane and ocean kinematic stability experiment.The last chapter looks back to the whole thesis and puts forward the fruits of the study. At last, the further study direction is brought out.