Motion Control Simulation of Underwater Gliders in Kuroshio

Abstract

In recent years, underwater gliders have been widely used in the observation of various ocean surveys. However, their motion is often seriously affected when observing strong currents such as the Kuroshio. Therefore, the motion control of underwater gliders in the Kuroshio was studied in this paper. First, with Petrel-II as the research object, a dynamics model considering the Kuroshio was established based on the momentum and momentum moment theorem. Then, the Kuroshio data downloaded from the HYCOM website was used as interference, which featured varying speeds and directions of Kuroshio at different positions, and Simulink was used to simulate the motion of the Petrel-II under the influence of strong currents. Finally, the radial basis function(RBF) neural network was combined with the conventional proportional-integral-derivative(PID) controller to control the yaw motion and trim motion of the Petrel-II. The simulation results show that the RBF-PID controller can improve the motion tracking accuracy of Petrel-II in the Kuroshio area and enhance its ability to resist the interference of the Kuroshio. This study can provide a reference for the motion control of underwater gliders under the influence of strong currents to some extent.

Keywords

• underwater glider
• kuroshio
• motion control
• radial basis function
• proportional-integral-derivative control