Research On Underwater Vehicle Design And Track Tracking Control

As an extremely important tool and right-hand man in various Marine technologies,the potential value of underwater vehicle is immeasurable.Therefore,the research on underwater robot has undoubtedly become a hot spot in the field of Marine engineering in the world.The track tracking control technology of underwater vehicle is an important prerequisite to ensure its completion of underwater operation.It is difficult to obtain accurate hydrodynamic coefficient because of the great coupling between the degrees of freedom in the track tracking control of underwater vehicle.At present,most of the researches focus more on the control algorithm itself and the superiority of the control performance,few of them consider the actual implementation.Therefore,it is of great theoretical value and practical significance to study the track tracking control technology combined with the onboard drive configuration of underwater vehicle.This paper focuses on the design of underwater vehicle and its track tracking control research.The main research contents are as follows:1)Underwater vehicle design.In order to improve the reuse and development efficiency of underwater vehicle,the design concept of modularization and reconfigurable is adopted to design underwater vehicle.The design of underwater vehicle is divided into ontology model module design,control system module design,power system module design,propulsion system module design and sensor system module design.And the cascade between each module design unified mechanical interface and electrical interface.The mathematical model of the motion of the designed underwater vehicle is established,which provides an object model for the subsequent design of track tracking control in this paper.2)Research on course guidance device based on lateral trajectory error method.Track tracking control is divided into course guidance and course control in this paper.The lateral trajectory error method is studied and improved,which is used as heading guidance,and the expected heading Angle is obtained from trajectory line heading Angle and trajectory tracking error,and the trajectory tracking problem of underwater vehicle is transformed into the heading tracking problem.3)Study on heading controller based on active disturbance rejection control.Aiming at the course tracking problem of underwater vehicle,this paper designs the active disturbance rejection course control system,optimises its structure and parameters,and carries on the comparison experiment with the traditional PID control,the results show that the control effect of the active disturbance rejection course control system is better.Finally,the track tracking control experiment of the underwater vehicle shows that the maximum track error is 4.08%,the average error is 1.76%,and the tracking effect is good.In this paper,the design of underwater vehicle and its track tracking control method are studied.The experimental results show that the proposed method can track the designated track effectively.