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Control Methods of UnderWater Vehicle Hovering System

Author: QiXiaoQiang
Tutor: ZhaoLin
School: Harbin Engineering University
Course: Navigation,Guidance and Control
Keywords: Hovering Control System Underwater Vehicle Data driven Adaptive inversecontrol
CLC: U674.941
Type: PhD thesis
Year: 2012
Downloads: 8
Quote: 0
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The development of ocean economy and industry, puts higher requirements on deep dive technology. Submarine, the important platform of modern weapon, has irreplaceable function for "Airsea Battle". The underwater hovering system of which has strategic significance and highly confidential status in international. The domestic study of the underwater hovering control technology is still at an early stage with a large number of basic research to be done. On the base of maneuvering movement model and control technology and hovering manipulate motion control, the paper deeply and systematically study the mechanism underwater hovering movement, modeling techniques and control strategic. The main content of this paper is as follows:With the basis of detailed analysis of the hovering movement mechanism, hydrodynamic characteristic and the rigid body dynamics theory, a dynamics model of hovering movement has been built. It is easy to be tested and meet the accuracy system requirements. The hydrodynamic parameter of the underwater hovering submarine is calculated. As an example, checking the model built above. At the same time, the interference factor of hovering submarine is completely and systematically analyzed and modeled. Modeling of the under unbalanced initial parameter, volume compression of the submarine, the interference of changing density, near the surface waves and currents and simulating under disturbances condition are included.To the hovering movement character of the near water submarine and geometry theory, the paper puts forward a globally stable strategy of hovering movement. The nonlinear process is transformed into simply pseudo linear system through appropriately static feedback. Control strategy with Lyapunov and Pole Placement are proposed. Under the simulate analysis of hovering system in static and dynamic environment, the validity of controller is checked. As the validation shows, the designed control strategy can guarantee the robustness of the system, overcome the uncertainty of the system and control hovering movement.The marine environment for hovering movement near the water is complicated. To effectively restrain the wave interference on hovering movement and control volatility of trim degree and deepness, an adaptive inverse control strategy is proposed. The unknown disturbances on hovering controlling system is restrained by the inverse controlling theory with variable parameter network and adjustment feedback.The simulation results validate the effectiveness of the control strategy. The strategy diminishes the wave interference successfully with good robust stability, leaving the original system not be affected.Finally, as to the uncertainty of hydrodynamic parameter on hovering movement controlling models and intersectional coupling between freedom motions, the accurate inverse model could hardly be realized. The paper proposed an inverse controlling method based on data-driven control theory. The α-step inverse modeling method to a type of affine nonlinear MIMO system has been built based on multivariate statistical strategy. What’s more, an inverse controlling system is built based on data-driven with a type of submarine as research object. The simulation results indicate the decoupling control strategy based on data-driven can precisely control hovering attitude.

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CLC: > Transportation > Waterway transport > Marine Engineering > Various types of vessels > Ships: navigation state points > Dive boat
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