Research On Construction And Control Method Of Portable AUV System

With the development of marine resources,the demand for underwater environment exploration,offshore resource exploration and resource fishing increases.Portable AUV has the advantages of low cost,small volume and weight,easy delivery and recovery,and has broad application prospects.At the same time,the portable AUV puts forward higher requirements for the control system.Under this background,this paper designs the hardware and software of the portable AUV control system,and studies the motion control method of the portable AUV according to the characteristics of the portable AUV.Firstly,according to the task requirements,the appropriate control form is adopted,and the corresponding sensors,actuators and other equipment are selected to design the hardware structure and software architecture of the control system respectively.Then,the motion mathematical model of portable AUV is established and simplified to facilitate the design of controller.At the same time,cascade depth controller and PID heading controller are established.The stability of the proposed controller algorithm is proved by simulation experiments.Then,aiming at the depth and heading control of portable AUV,the model predictive control algorithm is studied.The force model and motion mathematical model of portable AUV are constructed,the state space equation is deduced,its control constraints are analyzed,and the state observer is designed.Finally,the penalty function of model predictive control method is studied,and the constraint function with inertia penalty term is proposed.In order to improve the convergence speed,a nonlinear gain mapping function is designed.The stability and superiority of the designed constraint function are proved by simulation experiments.Compared with the cascade controller,the superiority of the model predictive control method in the depth control of portable AUV is proved.