Inverse speed analysis and low speed control of underwater vehicle

Abstract

Inverse speed is a reversible maneuver. It is a characteristic of underwater vehicle at low speed. Maneuverability in the vertical plane at a speed lower than inverse speed is different from one at higher speed. In the process of underwater working for observation, AUV’s cruise speed is always low. Therefore, the research on inverse speed is important to AUV’s maneuverability. The mechanism of inverse speed was analyzed, and then the steady pitching equation was derived. The parameter expression of track angle in vertical plane was deduced. Furthermore, the formula to calculate the inverse speed was obtained. The typical inverse speed phenomenon of the flat body and the revolving body was analyzed. Then the conclusion depicts that, for a particular AUV with flat body, its inverse speed is lower than that of revolving body. After all the calculation and the analysis, a series of special experiments of inverse speed were carried out in the simulation program, in the tank and in the sea trial.

Keywords

underwater vehicle / motion control / inverse speed

References

[1] LiY, ChangW T, JiangD P, ZhangT D, SuY M. AUV local path planning by acoustical image disposal [J]. China Ocean Engineering, 2006, 20(4): 645-656

[2] MontanariM, EdwardsJ R, SchmidtH. Autonomous underwater vehicle-based concurrent detection and classification of buried targets using higher order spectral analysis [J]. Ocean Engineering, 2006, 31(1): 188-199

[3] AndoH, TamuraK, MaedaK, UenoM, NimuraT, HisamatsuK, SaekiN, WadaY. Model experiment of a launcher of a deep-sea monitoring robot system [C]. Proceedings of OCEANS 2003 Conference, 2003, San Diego, USA, MTS/IEEE: 671-676

[4] AcostaG G, IbanezO A, CurtiH J, RozenfeldA F. Low-cost autonomous underwater vehicle for pipeline and cable inspections [C]. International Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies, 2007331-336

[5] PalomerasN, CarrerasM, RidaoP, HernandezE. Mission control system for dam inspection with an AUV [C]. Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 20062551-2556

[6] KumarR P, BabuS S, SrilekhaY, KumarC S, SenD, DasguptaA. Test-bed for navigation and control of a thruster based AUV [C]. Proceedings of OCEANS 2006-Asia Pacific Conference, 2006, Singapore, MTS/IEEE: 136-144

[7] IshibashiS. The improvement of the prescision of an inertial navigation system for auv based on the neural network [C]. Proceedings of OCEANS 2007-Asia Pacific Conference, 2007, Singapore, MTS/IEEE: 2315-2327

[8] HyakudomeT, TsukiokaS, YoshidaH, SawaT, IshibashiS, IshikawaA, WatanabeK, NakamuraM, AnkiT. Autonomous underwater vehicle for surveying deep ocean [C]. Proceedings of the 2009 IEEE International Conference on Industrial Technology, 20091537-1545

[9] McphailS D, FurlongM E, PerrettJ R, StevensonP, WebbA, WhiteD. Exploring beneath the PIG Ice Shelf with the Autosub3 AUV [C]. Proceedings of OCEANS 2009 Conference, 2009, Piscataway NJ, USA, MTS/IEEE: 213-222

[10] LiY, PangY J, WanL, WangF, LiaoY L. Stability analysis on speed control system of autonomous underwater vehicle [J]. China Ocean Engineering, 2009, 23(2): 345-354

[11] LiYeResearch on motion control technology for mini underwater vehicle [D], 2007

[12] ZengG H, ZhuJ, HuangK L. A calculation and study on sensitivity of geometrical parameters of control surfaces for submarines [J]. Ship Science and Technology, 2009, 31(2): 44-48

[13] HuK, WuC. Simulation and analysis of submarine’s vertical plane motion [J]. Journal of Qingdao University, 2003, 16(4): 58-61

[14] WangJ Q. Maneuver model and safety analysis of submarine’s space motion [J]. Wuhan Ship Building, 2001, 3: 1-3

[15] SunY Q. Modern control theory and control stability of submarine [J]. Ship Science and Technology, 1995, 17(4): 1-12

[16] LiY, PangY J, ZhangL, ZhangH H. Semi-physical simulation of AUV pipeline tracking [J]. Journal of Central South University of Technology, 2012, 19(9): 2468-2476

[17] ShiS-daSubmarine maneuverability [M], 1995, Beijing, China, National Defense Industry Press: 23-44

[18] LiY, PangY J, Cheny, WanL, ZouJ. A Hull-inspect ROV control system architecture [J]. China Ocean Engineering, 2009, 23(4): 751-761

[19] WangBoResearch on motion simulation of a small underwater vehicle [D], 2008

[20] LiY, PangY J, HuangS L, WanL. Depth-trim mapping control of underwater vehicle with fins [J]. China Ocean Engineering, 2011, 25(4): 657-667