The Path Following Control Of A New Type Autonomous Underwater Vehicle

As an important means for ocean exploration,surveying and mapping,environmental monitoring,and safeguarding national maritime interests,Autonomous underwater vehicles(AUV)have become the focus and hotspot for scholars from various countries.Its motion control system has the characteristics of high nonlinearity,non-integrity,model uncertainty,and external interference.To ensure the aircraft accurately and quickly track the set trajectory under the safety premise becomes the basis for its strategic and tactical goals.In this paper,the "ZY-1" underwater vehicle,which is researched and developed by the laboratory,becomes the research object.For the path tracking control problem,the design and simulation verification for the path tracking controller are carried out,and the fuzzy PID path tracking experiment is designed.The main content is divided into the following sections:This paper first introduces the overall structure design about "ZY-1",and establishes a kinematic model and a dynamic model for its structure and motion characteristics.It provides a mathematical model to study path tracking control and design path tracking controller.Next,based on the line-of-sight method,the space path tracking motion error model is established.The aircraft position error tracking control has been converted into the integrated control problem on speed error,pitch angle error and pitch angle error.The PID path tracking controller is designed and control parameters are determined.Finally,using matlab to simulate the space curve path tracking control at different speeds,which verifies the effectiveness of this control algorithm.In order to improve the tracking control system ability to suppress environmental disturbances such as currents,a fuzzy PID path-following controller is designed to overcome the conventional PID controllers weakness that changing operating conditions will cause deteriorated control performance.The membership function,fuzzy control rules,and antifuzzification method are determined.Cascade path tracking control simulation system is designed.The simulation results show that the designed control system has good self-adaptiveability and it can realize fast and accurate linear path track control objective.Finally,the path tracking controller based on the fuzzy PID principle is applied to underwater tracking control experiment about "ZY-1" underwater vehicle.Lake experiment results show that the designed fuzzy PID path-following controller is effective and adaptive in practical environment.The control accuracy helps fast track path to control the target.