<abstract xmlns="http://www.w3.org/1999/xhtml"><p> Learning from the motion principle of quadrotor, a symmetric propeller AUV, which has small size and low velocity is designed. Compared with the AUV equipped with rudders, it has better maneuverability and manipulation at low velocity. According to the Newton-Euler method, the 6 DOF kinematic model and dynamic model of the propeller AUV are established. A stability controller that consists of 3 different PID controllers is designed. It makes the depth and attitude angle as trigger conditions, and the relevant controller is chosen in different moving process. The simulation experiments simulate ideal motion state and disturbed motion state, and experiments results show that the stability controller based on combined sections method can make the best of mature technology of PID, and meet the control requirements in different stages. It has a higher respond speed and accuracy, improving the stability of the propeller AUV under the disturbance of complex ocean currents.</p></abstract>

Learning from the motion principle of quadrotor, a symmetric propeller AUV, which has small size and low velocity is designed. Compared with the AUV equipped with rudders, it has better maneuverability and manipulation at low velocity. According to the Newton-Euler method, the 6 DOF kinematic model and dynamic model of the propeller AUV are established. A stability controller that consists of 3 different PID controllers is designed. It makes the depth and attitude angle as trigger conditions, and the relevant controller is chosen in different moving process. The simulation experiments simulate ideal motion state and disturbed motion state, and experiments results show that the stability controller based on combined sections method can make the best of mature technology of PID, and meet the control requirements in different stages. It has a higher respond speed and accuracy, improving the stability of the propeller AUV under the disturbance of complex ocean currents.

Stability Control of Propeller Autonomous Underwater Vehicle Based on Combined Sections Method

Aeronautics and Astronautics Engineering College, Air Force Engineering University, Xi’an 710038, China

Engineering University of CAPF, Xi’an 710086, China

Department of Geology, Faculty of Science, University Of Malaya 50603 Kuala Lumpur, Malaysia

Faculty of Science & Natural Resources, Universiti Malaysia Sabah, 88400 Kota Kinabalu, Sabah, Malaysia

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Learning from the motion principle of quadrotor, a symmetric propeller AUV, which has small size and low velocity is designed. Compared with the AUV equipped...

Stability Control of Propeller Autonomous Underwater Vehicle Based on Combined Sections Method

Publié en ligne: 15 oct. 2015

Pages: 157 - 162

DOI: https://doi.org/10.1515/pomr-2015-0048

Mots clés
propeller AUV, dynamic model, stability control, simulation

© 2015

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Stability Control of Propeller Autonomous Underwater Vehicle Based on Combined Sections Method

Publié en ligne: 15 oct. 2015

Pages: 157 - 162

DOI: https://doi.org/10.1515/pomr-2015-0048

Mots cléspropeller AUV, dynamic model, stability control, simulation

© 2015

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Mots clés
propeller AUV, dynamic model, stability control, simulation