AUV (Autonomous Underwater Vehicle) Dive Control System Development Including Sensor Bias Compensation and Parameter Estimation

摘要

The crux of this thesis is to develop, test and evaluate a real- time state-space derived dive plane controller for the NPS prototype Autonomous Underwater Vehicle (AUV). The U.S. Navy and a number of its contractors are presently developing unmanned miniature submarines for several vital underwater missions. These include surveillance, submarine tracking, and bottom mapping. Foregoing Research at NPS produced a testbed as a research platform for demonstrating the performance of AUVs. Combining the power of an IBM PC/AT in conjunction with a high level programming language, a state space dive control system was developed and instituted for the 30 inch AUV model. Parameter Estimation using a Recursive Least Squares Fit scheme and a State Observer were incorporated in the controller. Procedures dealing with hardware/software interfacing, AUV simulation analysis, and computation speed of large programming code were investigated. Keywords: Analog simulators, Digital control programs, Closed loops. Theses. (kr)