Path Following Control for Autonomous Underwater Vehicle Underwater Docking

针对欠驱动无缆水下机器人(autonomous underwater vehicle,AUV)的特点,面向水下对接的应用需要,在考虑其非完整约束的条件下,对水下机器人的非线性系统的可控性进行深入分析,并推导如何将非线性系统通过反馈变换转换成链式模型,在此基础上提出一种使用近似线性化的全状态反馈进行三维链式控制器设计的方法。最后,为了验证轨迹跟踪控制器的控制性能,在Matlab仿真环境下进行了实验,结果表明该方法可以实现路径跟踪误差的全局渐近稳定,验证了其有效性和合理性

Small autonomous underwater robot power management system

本发明涉及一种小型自治水下机器人（以下简称AUV）电源管理系统，电源控制电路与电源分配电路、电池组连接；电源控制电路：用于进行AUV的电源分配，并能够监测整个AUV的实时电流；与中央控制系统通过CAN接口进行通信；当AUV上岸时能够与外部脐带电缆连接并对电池组进行充电；电源分配电路将电源控制电路输出的电压经转换供给中央控制系统和推进系统；电池组为电源管理系统内的主电源，给电源控制电路供电。本发明对小型AUV水下作业时自带电池组的能源使用进行管理，同时可以使小型AUV在水面连接脐带时能够切换到充电模式，并使用脐带电源为系统供电

High-voltage electric coupling isolation relay for use in deep sea environment

本发明涉及一种适用于充油高压环境下使用的电耦合隔离继电器，包括顺序连接的过压保护电路、耐油压隔离驱动电路、开关电路；所述过压保护电路输入端用于连接上位机，所述开关电路输出端用于连接用电设备。本发明可以在充油高压环境下使用，使得电子设备可以与液压部件封装在一起，有效减少体积和结构件数量，提高可靠性，尤其在深海环境中使用时可以大大化简机械结构设计难度。</p

一种全海深自主遥控水下机器人的控制系统及控制方法

本发明涉及水下机器人控制领域，具体地说是一种全海深自主遥控水下机器人为适应模块化设计而采用的控制系统及控制方法。系统包括：控制主体，用于控制外接传感器设备，采集外接传感器的状态信息，与水面显控中心交互数据；通信设备，用于连接控制主体与水面显控中心进行通信与数据交互；水面显控中心，用于与控制主体通信，监控控制主体在水下的工作状态。方法包括水面显控中心端控制以及水下机器人载体端控制。本发明的控制方法使用状态机流转的方式来对应ARV整个作业过程中的几个阶段，简单明了且便于软件的模块化设计，能够移植到其他ARV系统控制方法中

Adaptive attitude controller design of autonomous underwater vehicle focus on decoupling

This paper describes a method to design adaptive attitude controller of autonomous underwater vehicle (AUV). The main purpose of this design is to adapt to the error caused by coupling between different controls channels as time-varying errors. In this paper, system identification method is not used to get the dynamic model directly, but to simplify the hydrodynamic model and quantize the effect caused by coupling as error of parameters. Computational-fluid-dynamics (CFD) method is used to build a hydrodynamic model to increase the experiment data and simulate the effect of coupling. And on this basis, An 1 adaptive controller can get enough resources to be build. In the final simulation, the acquired controller reveals better performance than an elaborately tuned PID controller. The 1 adaptive controller can handle the coupling better. The output of the controlled system can follow a response of a given transfer function, which benefits the controller design in outer loop

The Application of the Haidou Autonomous and Remotely-operated Vehicle in the third Mariana Trench scientific expedition of China

From August to October of 2018, Haidou ARV participated in the third Mariana Trench scientific expedition of China. It carried out a total of 7 underwater trials in the Challenger Deep. The total working time in the bottom of Challenger Deep was 5h 47min. A lot of scientific data were got by Haidou ARV in the expedition, including HD video of the Challenger Deep, high-precision seabed depth measurement data and CTD observation data in the Challenger Deep. These observed data are of great significance for scientists to carry out scientific research on the Hadal zone in the future. This paper mainly describes the application of Haidou ARV in the third Mariana Trench scientific expedition of China and the scientific results of observation during the expedition