Research On The Maneuverability And Control Performance Of Large Underactuated AUV

Large AUV has characteristics of large size, long voyage, long flight time, and has a broad prospect for application in military and civil fields. In order to complete the tasks of navigating and operating under water, large underactuated AUV must have good maneuverability and controller performance. The accuracy of hydrodynamic performance calculation is the basis of the prediction and analyze of maneuverability and the design of control method. Large AUV suffer the current disturbance traveling under the water,so research on the maneuverability and control performance is very important for the current conditions.This paper will take a large-scale underactuated AUV as an example, use two methods:approximate numerical calculation and CFD to analyze the hydrodynamic performance and get the hydrodynamic coefficients. Using the software FLUENT and boosting the grid technology and UDF technology to simulate the constraint model test. Through modeling, meshing, boundary conditions, solving process of hydrodynamic problem to simulate some constraining model experiment, and then dealing with the data to get the hydrodynamic coefficients for AUV. And then the analysis of the maneuverability forecasting, establish the six freedom space movement equations to describe the model of AUV motion,and analysis the equation one by one. Using 'VC programming environment to build AUV motion simulation system, and simulate various maneuverability tests. The key of the analysis controlling performance is the design of 3D trajectory tracking controller, analyzing the motion characteristics and motion control model of underactuated AUV, designing the 3D trajectory tracking controller based on the motion model, and analyzing the effectiveness of the controller and the control performance of AUV. In order to analyze the maneuverability performance in ocean condition, analyze the influence of ocean to AUV according to the characteristics of the ocean at first. Design the platform of motion maneuverability and methods of motion controlling under this ocean conditions. Through the corresponding simulation experiment, analysis the maneuverability performance of large-scale underactuated AUV in current interference conditions. The results show that the large underactuated AUV has good maneuverability performance,and better ability to move which provide the protecting of long range, long endurance for the AUV in current conditions.