Attitude control system for autonomous underwater vehicle-manipulator system

作者：Yang, Chao^*; Zhang, Mingjun; Qin, Hongde; Guo, Guanqun; Wang, Yujia

来源：Journal of Harbin Engineering University, 2018, 39(2): 377-383.

DOI：10.11990/jheu.201701003

• Autonomous underwater vehicles (AUV)
• Barycenters
• Double closed loop
• Nonlinear characteristics
• Of autonomous underwater vehicles
• Protective structures
• Reduce energy consumption
• Underwater vehicle manipulator systems

Aiming at the problem of the narrow interior space of mini autonomous underwater vehicle (AUV) and the large attitude overturning moment of manipulator stretch and operate, a new attitude control system of Autonomous underwater vehicle-manipulator system (AUVMS) was developed. To reduce energy consumption of AUV, the attitude control system can maintain the attitude of pitch and roll through the mechanical self-locking protective structure;and meanwhile it can achieve the two-level-security-protection of the software limit and hardware limit. In order to reduce attitude deviation and adjustment time of the AUVMS, a fuzzy double-closed-loop PID method which is suitable for AUVMS attitude control was proposed, the PID control parameters were adjusted online through the fuzzy logic to adapt to the nonlinear characteristics of AUVMS. The effectiveness of the attitude control system and the proposed methods are verified by the cable cutting operation of AUVMS experimental platform that was carried out in the pool.

• 出版日期2018
• 单位哈尔滨工程大学