Research on the Influencing Factors of AUV Hovering Control in Null-Speed State

Intelligent underwater vehicles hover by way of a hovering control system. To provide design inputs and maneuver guidance, this study focused on the characteristics of intelligent underwater vehicles during hovering control with the propulsion system shut down, established a mathematical model of ho...

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Bibliographic Details
Published in:Journal of marine science and engineering 2024-05, Vol.12 (5), p.725
Main Authors: Wang, Jianguo, Jiang, Chunmeng, Wan, Lei, Zhou, Yimei, Hu, Gangyi, Cheng, Xide, Wu, Gongxing
Format: Article
Language:English
Subjects:
Analysis
Control systems
Control systems design
Control theory
control timing
Controllers
Depth control
Design
Drainage
Drainage control
Experiments
Hovering
hovering control
Hydrology
Injection
injection and drainage function
injection and drainage rate
intelligent underwater vehicles
maneuver quality
Mathematical models
Methods
Monitoring systems
Motion control
Optimal control
Parameters
Propulsion systems
Simulation
Undersea cables
Underwater vehicles
Vehicles
Water flooding
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Summary:Intelligent underwater vehicles hover by way of a hovering control system. To provide design inputs and maneuver guidance, this study focused on the characteristics of intelligent underwater vehicles during hovering control with the propulsion system shut down, established a mathematical model of hovering control and determined injection and drainage functions based on optimal control theory. From analysis simulation experiments, the influence laws of control parameters, control timing and rate of injection and drainage control upon hovering control were deduced. It is proposed that, at the time of control parameter selection, the continuous injection and drainage rate at each time should be reduced as far as possible to relieve the demand on the volume of the reservoir when the requirement of depth control accuracy has been satisfied. In addition, the injection and drainage control should initiate when depth changes exceed 0.5 m. Suggestions are included on the minimum injection and drainage rate required for different initial disturbances. The proposed suggestions guide the design of hovering control systems and hovering control over intelligent underwater vehicles.
ISSN:2077-1312
2077-1312
DOI:10.3390/jmse12050725