Development and Control of a Vectored Water-jet-based Spherical Underwater Vehicle

摘要：

This paper presents a spherical underwater vehicle which uses three vectored water-jet propulsion systems. In this paper, firstly, we proposed the concept of a vectored waterjet based spherical underwater vehicle. Then we give the basic design of this underwater vehicle. The working principles of the vectored water-jet propellers is illustrated including the transformation of reference frames, the distribution of propellers and the composition of vectored propel forces. Thirdly, we give the results of simulation experiment which compares traditional PID control and BP neural network based PID control. This control experiment only focus on the horizontal motion, but it can be expanded in the other control plane easily.

关键词： BP Neural Networks PID Control Propulsion System Vector Synthesis Force Distribution

作者: Shuxiang Guo Xichuan Lin Koujirou Tanaka Seji Hata

作者单位: Harbin Engineering University,China Kagawa University,Japan Kagawa University,Japan Faculty of Engineering Kagawa University,Japan

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）