Intelligent Underwater Towed System

点击翻译按钮获取中文摘要

A new concept of guidance and control of underwater towed vehicle was proposed to perform operation in both vertical and horizontal axis with stable attitude.The control architecture of the vehicle has a hierarchical structure consisting of attitude control, guidance, navigation, path planning and communication. CCV (Control Configured Vehicle) technology was adopted to perform the attitude control for the decoupling of motion components. The optimum configuration was designed considering the stability and the decoupled attitude control. The target values necessary for the attitude control were determined in the guidance process having three types ,i.e. (i) lateral movement survey in horizontal plane, (ii) seabed survey in vertical plane with constant altitude,and (iii) vertical and lateral movement survey. Fuzzy algorithm was used both in the attitude control and in guidance process. The performance of guidance and control of the vehicle was investigated through numerical simulations based on nonlinear equations of motion of cable and vehicle.