Three-channel control for the depth of AUV and its dynamic performance simulation
The autonomous underwater vehicle can be affected by sea flow and other factors when in a motion to a certain fixed depth.To guarantee the stability of cruise trajectory of autonomous underwater vehicle and considering the influence of sea flow on its motion,the underwater six-free-degree motion mathematical model for the vehicle is established in combination with the sea flow model.Besides,dynamic features of the longitudinal plane,horizontal plane and crosswise-rolling of the vehicle at different navigation speeds are simulated with the three-channel closed-loop control system.The simulation result indicates that the vehicle can move stably at a certain depth and with the achieved accuracy by means of closed-loop control.
the depth control three-channel control cruise trajectory dynamic performance simulation
Teng Peng-hua Zhang Yu-wen Hou Er-hu
Northwestern Polytechnical University,Xian 710072,China
国际会议
济南
英文
1064-1068
2012-12-29（万方平台首次上网日期，不代表论文的发表时间）