Multivariable Control System of Vertical Motion for an Unmanned Underwater Vehicle with Interval Parameters

Traditionally, unmanned underwater vehicles are operated at low angles of inclination (pitch and roll). However, there are tasks that require high maneuverability and controllability of the underwater vehicle in the entire range of orientation angles. At the same time, traditional control systems use the Euler angles and have limitations associated with the degeneration of the kinematic equations at a picth angle of ± 90 °, the problem of the non-uniqueness of the Euler angles, and the deterioration of the system performance at large inclinations of the vehicle. Thus, the question of developing a synthesis method for a control system for highly maneuverable unmanned underwater vehicles arises. The paper provides a review and comparative analysis of existing approaches to attitude control, on the basis of which an approach using quaternions is chosen. The law of attitude control based on quaternions was approved during field tests on a hybrid unmanned underwater vehicle "Iznos", developed at Bauman Moscow State Technical University. The results obtained during the tests are given in the article. The quaternion-based approach has better performance in comparison with the traditional control system. In addition, control system based on quaternion approach has a simple structure and can be used to increase the maneuverability of unmanned underwater vehicles with average requirements for positioning accuracy.

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An Autonomous Underwater Vehicle for Competition

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.380-384.595 ◽

2013 ◽

Vol 380-384 ◽

pp. 595-600

Author(s):

Hai Tian ◽

Bo Hu ◽

Can Yu Liu ◽

Guo Chao Xie ◽

Hui Min Luo

Keyword(s):

Control System ◽

Hydrodynamic Model ◽

Degrees Of Freedom ◽

Autonomous Underwater Vehicle ◽

Autonomous Underwater Vehicles ◽

Vertical Motion ◽

Underwater Vehicle ◽

Step Response ◽

Six Degrees Of Freedom ◽

Simulink Simulation

The research of this paper was derived from the small autonomous underwater vehicle (AUV)Raider well performed in the 15th International Underwater Vehicle Competition (IAUVC),San Diego. In order to improve the performance of underwater vehicle, the control system of performance motion played an important role on autonomous underwater vehicles stable motion, and the whole control system of AUV is the main point. Firstly, based on the motion equations of six degrees of freedom, the paper simplified the dynamical model reasonably in allusion; Due to the speed of Raider to find the target was very low, this paper considered the speed was approximately zero and only considered the vertical motion. Therefore, this paper established the vertical hydrodynamic model of Raider, obtaining the transfer equation of vertical motion. Through the experiment and Matlab/Simulink simulation, this paper got the actual depth of the step response curve and simulation curve, and verified the validity of the vertical hydrodynamic model and the correlation coefficient.

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