Research On Depth And Heading Control Of AUV

The deep-sea environment is so uncertain and complex that better research into Sea World requires exploration tools,known as Autonomous Underwater Vehicle(AUV).First of all,it mainly introduces the development status of AUV at home and abroad,looks for relevant literature,and learns that today’s AUV are developing remotely,towards the deep sea and towards a more intelligent direction.Combined with the purpose and significance of the research,this paper mainly studies the depth and course control of AUV.Firstly,this paper analyzes the structure design and mathematical model of Autonomous Underwater Vehicle.The design of the overall structure of the AUV,whose AUV carrier rudderless paddle tail uses four propellers as propellers.The motion equation is established,the fixed and motion coordinate system is established by the ITTC coordinate system,and the state parameters under the linear and rotational motion under the corresponding axes are finally obtained,and the force corresponding to the torque.The mathematical model of Autonomous Underwater Vehicle can be obtained according to the known state parameter,which mainly includes gravity,buoyant force,fluid viscosity force and motor dynamic equation.In view of the control objectives of this paper,in order to better complete the design tasks,the complex model is simplified analysis.Secondly,the research on the motion control strategy of Autonomous Underwater Vehicle first introduces the influence of each link of PID control method on the state of the whole system,and adopts incremental formula,which does not need to add up the error value of the past to reduce the calculation.The control strategy is formulated for the control target,and the pitch PID and the flight PID link simulation are completed.PID control has the advantages of simple algorithm,but has certain limitations,it needs labor,if inexperienced may need to make many sub-arguments,and when faced with such a complex object as AUV can not get satisfactory results,so the introduction of method fuzzily,it has excellent robust performance and nice adaptability.Finally,by using the PID as a base,the fuzzy control optimization system is added,establishing fuzzy rules based on experts’ experience,and the simulation is carried out after optimizing the simulation of the control strategy target and adding the interference signal.According to the results,it can be seen that the improved strategy method is optimized,and then the underwater depth,fixed navigation and propeller speed and its turning cycle are tested for the control system.