Dynamics Modeling and Motion Control of an New Unmanned Underwater Vehicle

Abstract

The structure design of an autonomous/remote underwater vehicle, Intelligence Ocean I(IO-I), capable of operating in ROV or AUV mode and acquiring marine environment information and its own status data are outlined first in this paper. The dynamics equations of underwater vehicles in horizontal and vertical are given to describe the movement of an underwater vehicle, taking the gravity, buoyancy, thrust and hydrodynamic force into account. Furthermore, in order to realize high precision automatic control of robot, the fuzzy control algorithm which belongs to the intelligent control is combined with the cascade PID control algorithm to realize an modified underwater vehicle control algorithm, which improves the applicability of the control algorithm and reduces the difficulty and workload of parameter adjustment. The proposed control algorithm is recognized in numerical simulations as well as in experimental tests which confirm the good performance of the controller and the prototype. INDEX TERMS Unmanned underwater vehicle, dynamics modeling, motion control, PID controller.

Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation

“…Several works in the literature have also given evidence of this result [ 8 , 9 , 10 , 37 ]. The fact that the standard deviation of the linear damping coefficient is close to the value of the parameter could be attributed to the data points used to compute the parameters [ 4 , 5 , 6 , 16 , 37 ].…”

“…A detailed and refined 3D model of the mini-AUV can be improved in the upcoming projects to increase the efficiency of the vehicle in operation, based on the results that were provided by the ANSYS CFX software, since the hydrodynamic parameters can be considered to be a tool for measuring the design efficiency [ 4 , 5 , 6 , 16 ]. A continuous improvement process also implies exploring more options and several parameters configuration to develop the simulations and obtain more accurate estimations, not to mention the real experimentation and problems that come with the data acquisition task.…”

“…In order to estimate the hydrodynamic parameters of a prescribed underwater vehicle, different experimental methodologies have been reported in the literature [ 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 ], yet, the majority of them require the implementation of top-technological expensive gadgets and tools, which makes the design task difficult for those researchers whose budget and facilities are an issue to overcome. In this regard, the implementation of Computed Fluid Dynamics (CFD) software and other computational resources has emerged as an alternative to conceive the vehicles at the first stages of research.…”

Research Progress of Path Planning Methods for Autonomous Underwater Vehicle

“…e algorithm takes the sensors' real-time measurement information as the input and generates the control information based on the experts' experience and knowledge as the output for AUV real-time path planning. Fuzzy logic does not need an accurate environment model and too complicated mathematical calculation and has achieved good results in AUV's collision avoidance control and path planning [90]. Due to the complexity of the 3D fuzzy design, the fuzzy logic algorithm is generally used for 2D path planning.…”

“…Generally speaking, the motion of AUV in 3D space is six degrees of freedom: surge, roll, sway, pitch, heave, and yaw. at is to say, AUV has rotation and translation velocity components in each dimension [90].…”