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| Water Environment Simulation and Positioning Control of AUV under Extreme Sea Condition |
| Received:July 18, 2018 Revised:December 25, 2018 |
| View Full Text View/Add Comment Download reader |
| DOI：10.7643/ issn.1672-9242.2018.12.013 |
| KeyWord:positioning control extreme sea condition autonomous underwater vehicle environment simulation |
| Author | Institution |
| CAI Wei |
State Key Laboratory of Naval Architecture and Ocean Engineering, Shanghai Jiao Tong University, Shanghai , China |
| WANG Jun-xiong |
State Key Laboratory of Naval Architecture and Ocean Engineering, Shanghai Jiao Tong University, Shanghai , China |
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| Abstract: |
| Objective To optimize PID controller and realize positioning control of AUV in extreme sea condition. Methods A wind wave simulation model was set in Matlab based on Blendermann wind load factor computational formula, ITTC two-parameter wave spectrum and drifting force computational formula to simulate the extreme sea condition. A AUV dynamic positioning control system was set based on the PID controller with Simulink platform to research positioning control of AUV. Results The AUV under control successfully reached the targeted position from the positioning origin. It took about 100 seconds for the system to get to the targeted position with only about 8% overstrike, presenting outstanding performance in severe envi-ronment. Conclusion The study successfully simulates the extreme work environment of AUV, sets up a dynamic positioning Simulink frame and realizes positioning control of AUV in extrem sea condition. The study provides guidance for the research of AUV performance and control system design under severe environment. |
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