The underwater unmanned vehicle(AU V)has the advantages of large underwater range of activity and good mobility,and is mainly used for large-scale terrain and geomorphology exploration.When underwater high-speed and long-range navigation,the underwater vehicle motion characteristics and attitude control are the focus of research.In this paper,the motion model of underwater vehicle in vertical plane is established,and the motion characteristics of underwater vehicle at high speed are analyzed.In order to ensure efficient and stable high-speed navigation,a combined control strategy of pitch control by PID method and depth control by sliding mode method is proposed in this paper.Through the simulation test,the high-speed navigation motion simulation research is carried out.The research results show that the underwater vehicle will produce a certain pitch at high speed,and the influence of pitch will be greater with the increase of the speed.The high speed status magnifies the slightly asymmetric characteristics of the underwater vehicle shape,resulting in the increase of the ver-tical hydrodynamic force and torque,and then causes the pitch;Under the condition of high speed navigation,the underwa-ter vehicle can maintain the constant depth and long distance navigation stably,and the control strategy has good applicability.
维普
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