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Research on Thrust System of Propeller Driven and Unmanned Underwater Vehicle

YU Xu1,LIU Kai-zhou2,LIU Jian2(1.Computer College,Shenyang Vocational & Technological College,Shenyang 110021,China;2.Shenyang Institute of Automation,CAS,Shenyang 110016,China)  
In order to accurately control unmanned underwater vehicle(UUV),the mechanism and mathematical model of propeller driven UUV’s thrusting system were deeply researched.Mathematical models of PWM,DC permanent-magnet motor,propeller and rudder of thrust system’s component were deduced respectively.The curves on multifunction simulation platform in response to the system were coincided with the results in lake trial.The correctness of the mathematical models of thrust system was proved.Both the validation of control strategy and the controller parameter were of much convincibility and reliability.
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