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Depth-trim mapping control of underwater vehicle with fins

Research paper by Ye Li, Yong-jie Pang, Shu-ling Huang, Lei Wan

Indexed on: 18 Dec '11Published on: 18 Dec '11Published in: China Ocean Engineering



Abstract

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.