Research on motion control of underwater vehicle
Motion control technique for underwater vehicle (UV) is conducted to improve the motion control ability. Firstly, a maximum-likelihood algorithm is utilized to estimate the hydrodynamic coefficients of the UV, and a six DOF simulation system is built up. Secondly, motion control system architecture of the UV is presented, which includes hardware and software structures. The hardware based on PC104 BUS, adopts Pentium M used as the controller’s embedded CPU and all control modules work in VxWorks, which is a powerful real-time operating system. Lastly, Information flow of motion system, motion control algorithm, force allocation and dead-reckoning algorithm are also explained in detail. Experimental demonstrations are undertaken to verify that the presented motion control system can satisfy the requirements of the UV.
underwater vehicle motion control embedded system force allocation system architecture
Wang Jian-guo
China Ship Development and Design Center, Wuhan 430064
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
3703-3707
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）