| A Dynamic Positioning(DP) Technique for Autonomous Underwater Vehicle (AUV) has been researched and a Dynamic Positioning System(DPS) which contained some assistant-thrusters in the side and vertical of AUV has also been designed in this dissertation. It analyzed the condition of movement when the attacking angle and sliding angle is huge and a model based on six assistant-thrusters has also theorized in this paper. Also, it researched the position of the assistant thrusters, propounded a method to solve the logic admeasuring of the force and the moment, applied the fuzzy-control to the DPS. Finally, it designed fuzzy-control rules and fuzzy-controller to simulate the four typical condition of DP.The main contribution of this dissertation is summarized as following: 1 ,AUV equations of motion which has six assistant thrusters has analyzed the force from environment and modeled precisely. The equation has been divided to two parts, one part to measure the DP when the AUV was zreo-velocity and other to measure the tracking when AUV was the high-velocity.2, The fuzzy-control DPS for AUV has been designed. The fuzzy arithmetic was optimized which combined the variable-domain method with the online interpolation algorithm. A new idea of fuzzy algorithm which could variable domain and interpolation online is applied to improve the fuzzy logic controller. A self-tuning fuzzy-control has also been designed.3, It analyzed the position of assistant thruster using area-dividing method, propounded a method to solve the logic admeasuring using measuring twice to confirm the power-mining.4, Emulation has been in progress to the four kind representative motion of AUV that the first motion and the second one adopt two different controllers for the two conditions which one was heading-keeping and other was up and down in vertical; and also designed simple fuzzy rules for track-keeping in side and bottom-tracking in vertical to reduce the arithmetic foe the third one and the last one .. |
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