Unmanned Autonomous Underwater Vehicle Vector Thruster Research

This dissertation advances a new kind of Water Pump Thruster which uses Thrust Vector Technical to improve the AUV maneuverability and flexibility. Based on the math model of AUV in the shape of torpedo math model, AUV math model with vector thruster is modified. The math model is simplified, then the thansfunction is educed on the basis of the simplified model. Simulation to the same AUV is completed between the vector thrust AUV transfunction and the ordinary thrust one. The simulation results prove that the AUV maneuverability and flexibility is improved because of the Water Pump Thruster with Thrust Vector Technical using.The control effection of the PID control and fuzzy adaptive control is simulated to the transfunction of AUVwith vector thruster.Simulation results prove that fuzzy adaptive control is competent for the AUV control task. Based on the analysis of the AUV vector thruster control system structure, hardware and software implement strategy is given in detail. DSP is used as Micro- controller, which has the advantage of good real time characteristic, high control precision, holistic capability improving. Dual-closed loop structure is adopted in main thrust motor and rudder motors, and PI controller is implemented by DSP software. Share bus is CAN bus which is nice function, high reliability and anti-jamming. Reliability is improved by hardware and software protection and anti-jamming measure on the base of system basic function.