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Control of an AUV from thruster actuated hover to control surface actuated flight

机译：从推进器致动悬停控制aUV到控制表面致动飞行

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摘要

An autonomous underwater vehicle (AUV) capable of both low speed hovering and high speed flight-style operation is introduced. To have this capability the AUV is over-actuated with a rear propeller, four control surfaces and four through-body tunnel thrusters. In this work the actuators are modelled and the non-linearities and uncertainties are identified and discussed with specific regard to operation at different speeds. A thruster-actuated depth control algorithm and a flight-style control-surface actuated depth controller are presented. These controllers are then coupled using model reference feedback to enable transition between the two controllers to enable vehicle stability throughout the speed range. Results from 3 degrees-of-freedom simulations of the AUV using the new controller are presented, showing that the controller works well to smoothly transition between controllers. The performance of the depth controller appears asymmetric with better performance whilst diving than ascending
机译：介绍了能够同时进行低速悬停和高速飞行式操作的自主水下航行器（AUV）。为了具有此功能，AUV配备了后螺旋桨，四个控制面和四个贯穿式隧道推进器来进行过度操作。在这项工作中，对执行器进行建模，并特别针对在不同速度下的操作进行识别和讨论非线性和不确定性。提出了推进器驱动的深度控制算法和飞行式控制面驱动的深度控制器。然后，使用模型参考反馈将这些控制器耦合，以实现两个控制器之间的转换，从而在整个速度范围内实现车辆稳定性。给出了使用新控制器进行的AUV的3个自由度仿真的结果，表明该控制器可以很好地在控制器之间平稳过渡。深度控制器的性能看起来不对称，潜水时比上升时性能更好

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