On wave compensation control technology of stinger-principle-based launch and recovery device for UUV

When the stinger-principle-based launch and recovery device of UUV is working in rough sea, the safety is deeply influenced by ship pitch motion. Meanwhile, the influence degree changes with the different sea conditions. For this, this paper proposes a wave compensation control approach based on fuzzy logic with variable universe. Firstly, the work principle of the stinger-principle-based launch and recovery device is introduced, and the theoretical model of this device is constructed. Secondly, the wave compensation control strategy is developed. Thirdly, fuzzy logic with variable universe theory is introduced to improve the adaptability of PID; thus the variable universe adaptive fuzzy PID wave compensation controller is designed. The feasibility of this method has been verified by the simulation results, which shows that the adverse effect of the wave on the launch and recovery device is reduced, and the reliability of this device is improved by the controller.