Study on depth control of autonomous underwater vehicle with moving mass

Computer Engineering and Applications ›› 2011, Vol. 47 ›› Issue (32): 239-241.

• 工程与应用 • Previous Articles Next Articles

Study on depth control of autonomous underwater vehicle with moving mass

ZHAO E1，SONG Baowei1，LI Jiawang2

1.College of Marine Engineering，Northwestern Polytechnical University，Xi’an 710072，China
2.Institute of Underwater Engineering，Shanghai jiaotong University，Shanghai 200240，China

Received:1900-01-01 Revised:1900-01-01 Online:2011-11-11 Published:2011-11-11

变质心自主水下航行器定深控制研究

赵娥1，宋保维1，李家旺2

1.西北工业大学航海学院，西安 710072
2.上海交通大学水下工程研究所，上海 200240

Abstract

Abstract: Study on depth control of autonomous underwater vehicle with moving mass The depth control problem is discussed for Autonomous Underwater Vehicle（AUV） with one moving mass.The mathematic model of the AUV with one moving mass is created in the vertical plane.Based on sliding mode control theory，a nonlinear controller is designed to control the offset of the movable mass，and thus to control the depth of AUV.Simulation results show that the proposed controller can meet the depth control requirements of AUV and make the depth tracking error to be convergent to zero with good robustness to modeling error.

Key words: Autonomous Underwater Vehicle（AUV）, moving mass control, sliding mode control, depth control

摘要： 对变质心自主水下航行器（AUV）定深控制问题进行了研究。建立了相应的纵平面的变质心AUV的运动数学模型。在此基础上，基于滑模控制理论设计了变质心控制系统，控制质量块的偏移运动，进而控制AUV定深运动。仿真结果表明：该控制器可满足AUV定深控制的需要，使定深误差趋近于零，并对建模误差具有一定的鲁棒性。

关键词: 自主水下航行器, 变质心控制, 滑模控制, 定深控制

ZHAO E1，SONG Baowei1，LI Jiawang2. Study on depth control of autonomous underwater vehicle with moving mass[J]. Computer Engineering and Applications, 2011, 47(32): 239-241.

赵娥1，宋保维1，李家旺2. 变质心自主水下航行器定深控制研究[J]. 计算机工程与应用, 2011, 47(32): 239-241.

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Study on depth control of autonomous underwater vehicle with moving mass

变质心自主水下航行器定深控制研究

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