Abstract
In this paper, the research contents are mainly focused on the technology of the underwater wheeled vehicle speed control. For providing a passive towed underwater wheeled vehicle with accelerating, uniform motion and decelerating capability which can simulate an underwater navigation environment for the carried unit, we devised a novel open-type hydraulic flexible towing system. Combining the hydrodynamic model of the vehicle and the hydraulic mechanism model, the dynamic characteristics of the novel towing system are studied by computing simulation. Aiming at the force coupling character of double driving hydraulic winches, a master-slave synchronization control strategy is proposed. Then, in view of the flexible towing system features, i.e., strong coupling, nonlinear, time-varying load, and environmental constraints, a real speed controller based on fast terminal sliding mode control theory is designed and manufactured. To verify the effectiveness of the controller, a hardware-in-the-loop simulation test is carried out on the strength of a semiphysical simulation platform based on Matlab/Simulink and VxWorks real-time system. The experiment results show that the speed controller based on fast terminal sliding mode control has excellent effect on rapidity, stability, and anti-interference characteristics.
Highlights
In the new century, facing various challenges, especially in the global population, resources, and environment, people will inevitably pay more and more attention to sea and depend on the ocean
The underwater wheeled vehicle flexible towing system presented in this paper is a new kind of experiment establishment which was built in a shallow water tank
If this experiment system is built in shallow seas, it can simulate a deeper and more realistic marine environment for the tested object. On account of this function, the underwater wheeled vehicle towing system can be applied to a variety of underwater applications, for example, providing a required-speed running environment, testing the dynamic performance of sensors and tested objects, capturing the tested equipment status data, and achieving effective data remote real-time transmission
Summary
In the new century, facing various challenges, especially in the global population, resources, and environment, people will inevitably pay more and more attention to sea and depend on the ocean. With the help of the pulleys fixed on the lifting platform and the wire rope, the underwater wheeled vehicle can be towed to achieve steady horizontal uniform navigation on the track mounted on the surface of the lifting platform If this experiment system is built in shallow seas, it can simulate a deeper and more realistic marine environment for the tested object. For the research object of the paper, it is a novel kind of underwater flexible towing system depending on two hydraulic valve-controlled motor winches and the wire rope. The mathematical model of the open-type hydraulic flexible towing system must be rebuilt in view of nonlinear flexible wire rope, hydraulic valve-controlled motor, the vehicle features, and the water resistance force in a limited pool.
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