Structure Design Of Autonomous Underwater Vehicle And Sliding Mode Simulation

AUV(Autonomous Underwater Vehicle)is a new type of underwater detection and operation equipment.Because it can be controlled autonomously,and has good mobility and flexibility,it has become a research hotspot in various countries around the world.The future development of AUVs is towards the trend of large depth,long range,multifunctionality and miniaturization.With the continuous development of science and technology and scientific research,commercial needs and military needs,small AUVs are constantly developing and growing.Based on the reference of existing AUVs at home and abroad,this paper proposes a design scheme of a multi-thruster small AUV.Multi-thrusters make underwater vehicles more maneuverable and flexible.The main work of this paper includes:First,select the AUV shape.Five common AUV streamlines were introduced,and the corresponding three-dimensional model was established by using Solidworks software.The water resistance simulation of the AUV appearance was performed by using Ansys/Fluent software.According to the size of the water resistance and the complexity of processing,shape 4 was selected as the design shape this time.Secondly,the structural design and analysis of AUV were carried out.Based on the existing AUV,the design process of the AUV was formulated,and the design calculations of the pressure-resistant shell,propulsion system,buoyancy adjustment system,energy system and Connecting mechanism of the AUV were made.The control block diagram is given for the AUV control system,and the electronic equipment such as circuit boards and sensors are selected.Then,the mathematical model of kinematics and dynamics of AUV is established.The fixed coordinate system and the motion coordinate system of the AUV are defined,and the kinematics and dynamics equations of the AUV are deduced according to the coordinate transformation,the momentum theorem and the momentum moment theorem.The gravity,buoyancy,hydrodynamic force and thrust of AUV are analyzed,and the six-degree-of-freedom motion equation of AUV is given.Finally,the sliding mode simulation study of AUV vertical plane is carried out.Based on fuzzy sliding mode variable structure control method and LMI sliding mode variable structure control method,two AUV vertical surface sliding mode variable structure controllers are designed.Using MATLAB for simulation,a better control simulation result was obtained.Figure[69]Table[14]Reference[85]...