Development of Autonomous Underwater Vehicle for Investigation of Marine Environment

AUV既可以作为巡航型航行器，也可以作为精确的自动位置控制型航行器，这对海洋测量将是最有利的。但AUV很难同时具有这两种功能，因为这两种类型的航行器所要求的水动力特性和控制方法有很大的不同。研制了一种名为“潜水甲虫”的四分之一大小的模型车。主要尺寸为：长1.2米，宽0.7米，高0.24米，空中重量40公斤。这辆车有6个推进器和2个水平尾翼来控制运动。运载器仅用于海洋工程坦克(L：65米，B：5米，D：7米)中进行运动控制研究。如果车辆和个人计算机之间的实时通信是可能的，我们可以将实验室中的PC设置在坦克的拖车上。该系统可以减少车辆的体积、重量和电池电量。此外，在这个系统中，更改PC系统将非常容易(PC每天都在发展。)“潜水甲虫”通过模型飞行器的数字比例无线电控制系统与PC机通信，在海洋工程水槽中进行了水动力系数的测量实验，并建立了运动方程。将该方程用于控制器的设计和运动仿真，研究了基于模型的控制器、增益调度控制器和神经网络控制器对车辆运动的控制。

An AUV which could be operated both as a cruising type and an exact automatic position control type vehicle would be most advantageous for ocean measurement. But it is difficult for an AUV to have both these functions, because the hydrodynamic characteristics and control method required for the two types of vehicle differ greatly. A quarter size model vehicle named "Diving Beetle" was developed for this study. The principal dimensions are; length:1.2m, width:0.7m, height :0.24m, weight in air:40kg. The vehicle has 6 thrusters and 2 horizontal tail wings to control the motion. The vehicle is used only in the ocean engineering tank (L:65m, B:5m, D:7m) to study motion control. If communication between the vehicle and a personal computer were possible in real time, we could set the PC in the laboratory on the towing carriage of the tank. This system could reduce the volume, weight and battery power of the vehicle. Moreover, in this system, it would be very easy to change the PC system (PCs are evolving daily.). "Diving Beetle" communicates with the PC using a digital proportional radio control system of a model aircraft.The experiments to measure the hydrodynamic coefficients of the vehicle were carried out in the ocean engineering tank, and the equation of motion was constructed. This equation was used for the design of the controller and motion simulation.The model based controller, gain scheduled controller and neural Network controller were studied to control the motion of the vehicle.