Control of Depth Keeping and Attitude Stability of Self-stabilizing Two-part Towed Vehicle

摘要

As an important marine detection platform, two-part towed system is easier to be controlled and could reduce the disturbance from the towing ship. The constant depth and stable attitude of the secondary towed vehicle is a basic precondition of the accuracy of detection data at actual work condition. The control of depth and attitude of the secondary towed vehicle with automatic regulation mechanism is studied in this paper. Firstly, a spring-damping model of the secondary towed cable is established, and the mathematical model of the whole two-part towed system is established based on the previous model. Considering the strong nonlinearity and time-varying characteristics of the system, a self-adaptive fuzzy PID controller for the secondary towed vehicle is designed in order to control the depth and attitude state under different working conditions. Finally a series of simulations is performed. From simulation results, it could be seen that change of sea states has significant influence on depth and attitude state of the secondary towed vehicle. When the vehicle is working without controller, the fluctuation range of depth and pitch is very large. After the self-adaptive fuzzy PID controller is applied, the range is much smaller because of the self-regulation, and could satisfy actual requirement. The validity of mathematical model of towed cable and the feasibility of the adopted controller are verified