Inverse speed analysis and low speed control of underwater vehicle

LI Ye(李晔)^{1, 2}, JIANG Yan-qing(姜言清)^{1, 2}, MA Shan(马珊)^{1, 2}, CHEN Peng-yun(陈鹏云)^{1, 2}, LI Yi-ming(李一鸣)^{1, 2}

(1. Science and Technology on Underwater Vehicle Laboratory (Harbin Engineering University), Harbin 150001, China;
2. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China)

Abstract:Inverse speed is a reversible maneuver. It is a characteristic of underwater vehicle at low speed. Maneuverability in the vertical plane at a speed lower than inverse speed is different from one at higher speed. In the process of underwater working for observation, AUV’s cruise speed is always low. Therefore, the research on inverse speed is important to AUV’s maneuverability. The mechanism of inverse speed was analyzed, and then the steady pitching equation was derived. The parameter expression of track angle in vertical plane was deduced. Furthermore, the formula to calculate the inverse speed was obtained. The typical inverse speed phenomenon of the flat body and the revolving body was analyzed. Then the conclusion depicts that, for a particular AUV with flat body, its inverse speed is lower than that of revolving body. After all the calculation and the analysis, a series of special experiments of inverse speed were carried out in the simulation program, in the tank and in the sea trial.

Key words:underwater vehicle; motion control; inverse speed