Research on motion control of high-speed underwater vehicles without rudder and wing
GAN Yong, WAN Lei, PANG Yong-jie (Ship Engineering College, Harbin Engineering University, Harbin 150001, China)
A motion control system for high-speed underwater vehicles without rudder and wing is presented in the paper by modifying the executive, control and perception layer of the system architecture of traditional underwater vehicles. The new system can finish tasks such as long distance and high speed voyage while the dynamic positioning function is reserved. By adjusting the deployment and thrust allocation of thrusters in the executive layer, the control method in the control layer and adding local planner in the perception layer, the control system can solve problems caused by high speed. A lot of experiments including comparison tests and long distance tests are conducted in sea. The experiments show that high-speed underwater vehicles without rudder and wing the presented control system controlled can meet the requirements of tasks.