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Design and realization of simulation system of bionic underwater vehicle

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3 Author(s)
Xie Haibin ; College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073, China ; Lin Longxin ; Shen Lincheng

A simulation system was established in the Matlab/Simulink environment based on the bionic underwater vehicle propelled by multiple undulating fins. It was composed of motion and attitude controller and plant model including 6DOF rigid body kinetic model, carrierpsilas hydrodynamic model, and multiple undulating finspsila hydrodynamic model. All parts of the simulation system were designed in detailed, and a layered control system was put forward. Finally, the performance of the control channels for speed, depth and yawing were simulated in terms of the real design parameters and hydrodynamic coefficients. Results show that the simulation system has important significance to research on the dynamic of the bionic underwater vehicle and verify the design of control system.

Published in:

2008 27th Chinese Control Conference

Date of Conference:

16-18 July 2008