System Design and Experiment of the Hybrid Underwater Vehicle

Hybrid propulsion is a crucial technology for the propulsion of underwater vehicle. The disadvantages of the underwater vehicle driven by propellers are that the thrust is difficult to control and the vision is easy to blurry by the sediment on the seabed. First, a new propulsion system that combined the thrusters and the propelled by flapping fins was proposed in this paper. The underwater vehicle consisted of following systems: mechanical structure, hardware system, software system, signal transmission parts. Then, the depth control model of underwater vehicle based on the transfer function was established and the classical PID control algorithm was used to complete the simulation. According to the simulation results, this paper established the control system. Finally, experiments were conducted on the depth control to study the simulation results. The experimental results showed that the underwater vehicle was able to achieve the various functions and could provide technical guidance for areas such as marine fishing.