Depth-trim mapping control of underwater vehicle with fins

作者：Li Ye^*; Pang Yong jie; Huang Shu ling; Wan Lei

来源：China Ocean Engineering, 2011, 25(4): 657-667.

DOI：10.1007/s13344-011-0052-3

• underwater vehicle
• fin
• motion control
• depth control

Underwater vehicle plays an important role in ocean engineering. Depth control by fin is one of the difficulties for underwater vehicle in motion control. Depth control is indirect due to the freedom coupling between trim and axial motion. It includes the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm. By considering the current speed and depth deviation, comprehensive interpretation is used in object-planning instruction. Expected depth is transformed into expected trim. Dynamic output fluctuation can be avoided, which is caused by linear mapping of deviation. It is steady and accurate for the motion of controlled underwater vehicles. The feasibility and efficiency of the control method are testified in the pool and natural area for experiments.

• 出版日期2011-12
• 单位哈尔滨工程大学