Design and Control Performance of the Self-Stable Controllable Underwater Towed Vehicle

Journal of South China University of Technology (Natural Science Edition) ›› 2005, Vol. 33 ›› Issue (5): 69-73.

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Design and Control Performance of the Self-Stable Controllable Underwater Towed Vehicle

Wu Jia-ming Ye Jia-wei

College of Tragic and Communications,South China Univ.of Tech.,Guangzhou 510640,Guangdong,China

Received:2004-07-12 Online:2005-05-25 Published:2005-05-25
Contact: 吴家鸣(1957-)，男，副教授，主要从事船舶与海洋工程水动力学方面的研究 E-mail:ctjmwu@seut.edu.cn
About author:吴家鸣(1957-)，男，副教授，主要从事船舶与海洋工程水动力学方面的研究
Supported by:
国家自然科学基金资助项目(40276034)；教育部留学回国人员科研启动基金资助项目

Abstract

Abstract:

In order to solve the problems of complicated control mechanism and unstable attitude of conventional controllab le underwater towed vehicles,a new self-stab le controllable underwater towed vehicle is proposed. The propo sed vehicle consists mainly of a controllab le depressing wing.a stable buoyant chamber an d a main body shaped like a rectangular wing.The trajectory and attitude of the vehicle are manipulated by the depressing force
and turning moment provided by the active depressing wing and two stern thrusters.Th e results of the hydrodynamic control experiment for the proposed vehicle show that,with the above.mentioned design, the propo sed vehicle is of good stability in attitude and great eficiency in rapid trajectory manipulation,and the design of the control system of the vehicle is gready simplified.

Key words: self-stability, control, underw ater towed vehicle, undersea detection

Wu Jia-ming Ye Jia-wei. Design and Control Performance of the Self-Stable Controllable Underwater Towed Vehicle[J]. Journal of South China University of Technology (Natural Science Edition), 2005, 33(5): 69-73.

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Design and Control Performance of the Self-Stable Controllable Underwater Towed Vehicle

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