Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree Freedom

Abstract

AUV docking devices have the ability to achieve homing of the AUV, supply the AUV with energy, and exchange data with it, thus improving the endurance and ensuring the continuous long-term and large-scale operation of the AUV. To improve the successful docking rate of the AUV, a funnel-shaped underwater docking device with multi-degree freedom based on a deep-sea platform was designed in this paper. The heading angle, pitch angle, and roller angle of the docking device could be adjusted in a timely manner according to the current flow direction and the position of the AUV. In order to realize the timely adjustment of the heading angle, pitch angle, and roll angle of the docking device, a set of underwater hydraulic systems was developed as the power source to drive the corresponding hydraulic cylinders, hydraulic motors, and other executive components. The model of the heading angle adjustment circuit of the hydraulic system was established and the open-loop transfer function of the heading angle adjustment circuit was derived. The dynamic response performance of the hydraulic circuit was simulated and the optimized PID algorithm was used to improve the dynamic response performance. Finally, the accuracy of the heading angle adjustment circuit model and the effectiveness of the control algorithm were validated by experiment of the docking device in a water pool.