Open AccessSteady State Analysis and Optimization for Autonomous Underwater Vehicle
Author(s) -
Peng Liu,
Liu Y,
Baoping Cai,
Zhenwei Niu,
Xiaoxuan Wei
Publication year - 2019
Publication title -
iop conference series. earth and environmental science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.179
H-Index - 26
eISSN - 1755-1307
pISSN - 1755-1315
DOI - 10.1088/1755-1315/326/1/012001
Subject(s) - control theory (sociology) , downwash , filter (signal processing) , trajectory , underwater , stability (learning theory) , transfer function , engineering , process (computing) , computer science , control (management) , aerospace engineering , physics , geology , artificial intelligence , oceanography , electrical engineering , astronomy , machine learning , wing , operating system
Autonomous Underwater Vehicle (AUV) is widely used in ocean engineering field. Steady state analysis of AUV is considered as a necessary part in the design process. Motivated by improving the stability, a downwash filter based feedback optimization methodology for AUV is presented. First, combined with AUV structural parameters, the AUV four-degree of freedom motion space mathematical model is calculated to provide a mathematical basis for rock-bottom steady state control system. Second, the transfer function of the filter is derived according to the zero-pole and trajectory map of the AUV ontic system. Finally, the AUV optimized control system is established by series downwash filter. The simulation analysis result shows that the stability of the system is greatly increased after the whole system is connected to the filter.