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Volume 19 Issue 2
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2011  >  19(2): 114-119
ZHANG Fu-bin, WANG Gang, CHEN Yu-hang, BAO Hong-jie. Modeling and PID Control of Underwater Glider Motion[J]. Journal of Unmanned Undersea Systems, 2011, 19(2): 114-119. doi: 10.11993/j.issn.1673-1948.2011.02.008
Citation: ZHANG Fu-bin, WANG Gang, CHEN Yu-hang, BAO Hong-jie. Modeling and PID Control of Underwater Glider Motion[J]. Journal of Unmanned Undersea Systems, 2011, 19(2): 114-119. doi: 10.11993/j.issn.1673-1948.2011.02.008
shu

Modeling and PID Control of Underwater Glider Motion

doi: 10.11993/j.issn.1673-1948.2011.02.008
  • 1.

    College of Marine Engineering, Northwestern Polytechnical University, Xi′an 710072, China

  • 2.

    National Key Laboratory for Underwater Information Processing and Control, Xi′an 710072, China

  • Received Date: 1999-11-30
  • Rev Recd Date: 2010-07-27
  • Publish Date: 2011-04-30
    Abstract
  • Underwater glider is a new kind of autonomous underwater vehicle driven by buoyancy force, however its special drive mode and structural characteristics increase the complexity of modeling and control analysis. To obtain an accurate and efficient control strategy for underwater motion, a complete three-dimensional mathematical model is built by analyzing kinematics and dynamics of the glider via some reasonable assumptions and simplification, thus a small disturbance vertical plane linear model is achieved. On this basis, a proportional integral differential (PID) controller is designed. In addition, the vertical plane motion of the glider is simulated. The simulation results verify the vertical plane motion characteristics of the glider using the PID controller, and demonstrate its better disturbance resistance and tracking performance.

     

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    • References(8)
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