Hydraulic Rrsearch And Control System Design Of Micro Manned Sightseeing Submarine

The vast ocean not only contains various mineral resources,but also breeds a variety of underwater creatures.And the mysterious underwater world has always been a long-awaited tourist attraction.Therefore,the research on the development of miniature manned sightseeing submersibles has important engineering significance and commercial value.In this paper,the structural analysis and hydrodynamics of the submersible function are carried out in combination with the characteristics of underwater working conditions.The research on related motion control strategies are carried out based on its hydrodynamic characteristics.And developed the display and control system of the sightseeing submersible using Labview.Firstly,the status quo of the development of miniature manned sightseeing submersibles at home and abroad is reviewed,and the three aspects of structural characteristics,hydrodynamic characteristics and motion control methods of manned submersibles are discussed.And the overall structural design idea,hydrodynamic related research method and control strategy of the motion control system of the manned sightseeing submersible are determined.According to the design indicators,the whole structure design includes the submersible manned sealed compartment,the sealing cover and the overall skeleton system.Through the analysis of gravity,buoyancy and stability,the corresponding alignment scheme is proposed.According to the requirements of underwater sealing,the finite element method is used to analyze the two parts of the seal chamber contact seal and the hatch cover contact seal.According to the strength requirements of mechanical structure,the static analysis of the strength of the sealed chamber and the strength of the skeleton were carried out.Secondly,based on the characteristics of underwater vehicle nonlinearity and strong coupling,the dynamics analysis of submersible underwater conditions based on potential flow theory and viscous fluid correlation theory.And establish a dynamic nonlinear mathematical model of the submersible and decouple the mathematical model.Based on the theory of CFD numerical analysis,the influence of fluid on the motion of the submersible is studied using Fluent numerical simulation technology.The partial hydrodynamic coefficients in the nonlinear mathematical model are solved,and then the mathematical model of direct,dive and transition motion of the submersible is determined.Subsequently,the system transfer function is established,and the system simulation model is built using Simulink to analyze the response characteristics of the PID control under the disturbance condition.By introducing fuzzy logic,a PID control system based on fuzzy theory is established,and the adaptive fuzzy PID controller is studied.Simulation analysis of the response characteristics of the two control systems,such as anti-interference ability,robustness and dynamic characteristics.Finally,based on the principle of distributed control,the overall control system of the submersible is planned and the hardware system is designed.Using Labview,the human-computer interaction interface of the submersible host computer was built.The model test of the submersible model was carried out,and the model drag test,direct flight,depth-fixing,turning and comprehensive motion tests were carried out.According to the test results,the effects of the hydrodynamic characteristics and control system of the submersible on the maneuverability and anti-interference ability of the submersible are studied.