Vector Promote The Modeling And Control Of 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 great economic performance and social performances, and it has latent applied foreground. 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.The Vectored Thruster Autonomous Underwater Vehicle(VTAUV) has no rudder and it's propulsion system use the Vectored Thruster, which can provide the 3 DOF vectored propulsion. So the control of the VTAUV does't depend on the speed of the vehicle strongly.The VTAUV can be controlled well in the state of low speed and it is more easy to realize the precision position tracing.This paper's main work is following:1. The 6 DOF kinematic and dynamic models for the Vectored Thruster AUV (VTAUV)is built at the base of Newton Equations of Motion and hydrodynamics ,and simplify the model based on the engineering practice.2. The model of VTAUV has high nonlinear characteristic and its parameters are difficult to get.To solve these problem ,an adaptive sliding mode control is brought forward in this paper and we prove it's stability by the theory. During the control ,online parameters estimating algorithm is added to classical sliding mode control to achieve both robustness and adaptability, to prevent noise and disturbances from causing parameter drift, a dead-zone is added to shut adaptation off for small tracking errors, and the adaptation law is modified to guarantee the estimated parameters in previously known ranges.3. Making the vectored propulsion as the input,we use an adaptive sliding mode control approach to realize the depth control and speed/position control in axes oriention of VTAUV.The results of the simulation are given.4. A Model Refernce Adaptive controller based on Backstepping technique is designed for the trajectory tracing control of VTAUV in horizontal plane. The controller can overcome the external perturbation and uncertainty of parameters of model.The results of simulation prove that the controller has the robustness and adaptability and also has good performance.