Research on integrated controller to reduce the roll and pitch of the AUV with a horizontal rudder
Research on integrated controller to reduce the roll and pitch of the AUV with a horizontal rudder
When underwater vehicles sail near the surface at low speed, they will experience roll, pitch and heave heavily due to the disturbance from waves, sea wind, and currents. In order to improve the ability of the underwater vehicle to resist the disturbance, the horizontal rudder using the lift principle of zero speed fin stabilizer is proposed to reduce the roll and pitch of the underwater vehicle. Considering the underwater vehicle’s 6-DOF nonlinear and coupling motions and the working principle of the horizontal rudder, a modified sliding mode integrated controller is designed to reduce the roll and pitch under different wave disturbances. After analyzing the simulation results, it shows that the control law can reduce the roll and pitch of an underwater vehicle effectively.
Zhigang, Qi
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Jiuwu, Hui
4c0a78e6-c6a5-4b7e-8996-6e7f56645db4
Xin, Yuan
eeb7cfb7-8536-44ac-b48b-67188a15326b
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00
Zhigang, Qi
dd30d3a1-0508-4495-9a7a-c5b3380ed4fa
Jiuwu, Hui
4c0a78e6-c6a5-4b7e-8996-6e7f56645db4
Xin, Yuan
eeb7cfb7-8536-44ac-b48b-67188a15326b
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00
Zhigang, Qi, Jiuwu, Hui, Xin, Yuan and Wilson, Philip
(2018)
Research on integrated controller to reduce the roll and pitch of the AUV with a horizontal rudder.
Ocean Engineering.
(Submitted)
Abstract
When underwater vehicles sail near the surface at low speed, they will experience roll, pitch and heave heavily due to the disturbance from waves, sea wind, and currents. In order to improve the ability of the underwater vehicle to resist the disturbance, the horizontal rudder using the lift principle of zero speed fin stabilizer is proposed to reduce the roll and pitch of the underwater vehicle. Considering the underwater vehicle’s 6-DOF nonlinear and coupling motions and the working principle of the horizontal rudder, a modified sliding mode integrated controller is designed to reduce the roll and pitch under different wave disturbances. After analyzing the simulation results, it shows that the control law can reduce the roll and pitch of an underwater vehicle effectively.
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paper-submitted
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Submitted date: 8 April 2018
Identifiers
Local EPrints ID: 419622
URI: http://eprints.soton.ac.uk/id/eprint/419622
ISSN: 0029-8018
PURE UUID: 96618431-013a-486d-9f77-d0d9683852c9
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Date deposited: 16 Apr 2018 16:30
Last modified: 16 Mar 2024 02:36
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Contributors
Author:
Qi Zhigang
Author:
Hui Jiuwu
Author:
Yuan Xin
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