Title :
Research on motion control of underwater vehicle
Author_Institution :
China Ship Dev. & Design Center, Wuhan, China
Abstract :
Motion control technique for underwater vehicle (UV) is conducted to improve the motion control ability. Firstly, a maximum-likelihood algorithm is utilized to estimate the hydrodynamic coefficients of the UV, and a six DOF simulation system is built up. Secondly, motion control system architecture of the UV is presented, which includes hardware and software structures. The hardware based on PC104 BUS, adopts Pentium M used as the controller´s embedded CPU and all control modules work in VxWorks, which is a powerful real-time operating system. Lastly, Information flow of motion system, motion control algorithm, force allocation and dead-reckoning algorithm are also explained in detail. Experimental demonstrations are undertaken to verify that the presented motion control system can satisfy the requirements of the UV.
Keywords :
autonomous underwater vehicles; control engineering computing; embedded systems; field buses; force control; hydrodynamics; maximum likelihood estimation; microprocessor chips; motion control; operating systems (computers); DOF; PC104 bus; Pentium M; UV; VxWorks; control module; dead reckoning algorithm; embedded CPU; force allocation; hydrodynamic coefficient; information flow; maximum likelihood algorithm; motion control algorithm; motion system; real-time operating system; underwater vehicle; Force; Hydrodynamics; Mathematical model; Motion control; Navigation; Software algorithms; Underwater vehicles; embedded system; force allocation; motion control; system architecture; underwater vehicle;
Conference_Titel :
Control and Decision Conference (CCDC), 2012 24th Chinese
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4577-2073-4
DOI :
10.1109/CCDC.2012.6244590
