Depth-trim mapping control of underwater vehicle with fins |
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| Authors: | Ye Li Yong-jie Pang Shu-ling Huang Lei Wan |
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| Institution: | a,b a National Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University,Harbin 150001,China b College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China |
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| Abstract: | Underwater vehicle plays an important role in ocean engineering. Depth control by fin is one of the difficulties for underwater
vehicle in motion control. Depth control is indirect due to the freedom coupling between trim and axial motion. It includes
the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm. By considering the current
speed and depth deviation, comprehensive interpretation is used in object-planning instruction. Expected depth is transformed
into expected trim. Dynamic output fluctuation can be avoided, which is caused by linear mapping of deviation. It is steady
and accurate for the motion of controlled underwater vehicles. The feasibility and efficiency of the control method are testified
in the pool and natural area for experiments. |
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| Keywords: | underwater vehicle fin motion control depth control |
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