The research work for an intelligent autonomous underwater vehicle based on the HSEI- I vehicle done at the Harbin Shipbuilding Engineering Institute requires that the vehicle be capable of more complex three demensions (3D) movements. The control method allows the vehicle to move along any 3D- path independent of the heading. It is possible to travel with heading parallel to the trajectory or keeping any desired heading. The simulation results of the 3D- trajectory control for an autonomous underwater vehicle HSEI - I are given.
An autonomous underwater vehicle (AUV), named HSEI - I, is des igned and manufactured for the research of an AUV by Harbin Shipbuilding Engineering Institute. There are six thrusters in it, which are two propulsions. two vertical and horizontal thrusters. The vehicle which contour is described by Fig.I. is 500 kg in weight, 2. 5 meter in length and 0.58 meter in width. Its kernel of control system are two computers, one 8088 CPU computer responsible for real time control and administered the AUV" s movement another 80386 CPU responsible for selecting mission, pathplanning and so on. But the mission selecting. decision-making control pathplanning and real-time control are all formed the 4 parts of the control system which has been implemented by the computer as well as obtained the believable emulation result.
The mathematical model is designed to be used in a 3D- trajectory controller as well as the current disturbance. It is convenient to apply two different coordinate system for modelling. An earth-fixed system is used to integrate the dynamic equations of the motion. Another coordinate system, with the same origin as the earth- fixed system and the axes parallel to the main axes of the vehicle, is used for computing the forces acting on the vehicle.