Hydrodynamics and Automatic Control of Unmanned Submersible for Underwater Survey

1.采用非线性优化方法，提出了具有CCV控制能力的无人无缆潜水器构型的新概念.设计重点是实现两种类型的CCV模式，即（1）纵向零俯仰角和垂直速度模式和（2）横向零横滚角和偏航角模式.所设计的潜器具有全动式前水平翼、带一对方向相同的舵同时旋转的后水平翼和带一对独立旋转的舵的上下垂直尾翼.操纵控制系统采用两层递阶结构，上层为导航，下层为姿态控制，目的是保持高度和预定航向，尽可能长时间地减小潜器的俯仰和横摇运动，但当碰撞风险较高时，在纵向上采取避碰操纵.将模糊算法应用于导航系统中，根据声纳获取的离海底高度和离前方障碍物距离信息，推理出碰撞风险;（2）在高度保持控制中确定垂直速度，在航向保持控制中确定偏航角.通过数值仿真，分别在纵、横两个方向上对机动控制算法进行了验证.仿真结果表明，该机动控制算法在纵向方向上即使在陡坡上也能很好地工作，并且在横向方向上具有快速返回预定航向的响应。

1. New concept of configuration of unmanned, untethered submersible capable of CCV control was propose by using a non-linear optimization method.2. Thedesign was focused on the realization of two types of CCV modes, i.e. (1) a mode with zero pitch angle and vertical speed in the longitudinal direction and (2) a mode with zero roll angle a yaw angle in the lateral direction.3. The designed submersible has an all movable forward horizontal wing, an rear horizontal wing with a pair of rudders rotating simultaneously in the same direction, and upper and lower vertical tails with a pair of rudders rotating independently.4. The maneuver contrl system having a two-layer hierachical structure, mavigation for the upper layer and attitude control for the lower layer, was porposed to keep an altitude and a prearranged course, minimizing the pitching and rolling motions the submersible as long as possible, although a collision avoidance maneuver is taken in the longitudinal direction when the risk of collision is high.5. Fuzzy algorithm was applied to the navigation system (1) to reason the collision risk from the informations of the altitude from the seabed and the distance to forward obstacle obtained from soners, (2) to decide the vertical speed during the altitude-keeping control and the yaw angle during the course-keeping control.6. The maneuver control algorithm was checked by the numerical simulations both in the longitudinal direction where the running over sinusiodal seabeds were tested, and in the lateral direction where a rectangular course was prearranged.7. The simulated results showed that the maneuver control algorithm works well even over a steep slope in the longitudinal direction and with a rapid returning response to a prearranged course in the lateral direction.