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Vol. 8, No. 1 (2011) ISSN 1729-8806, pp 131-139 www.intechopen.com
Design of Autonomous
Underwater Vehicle
Tadahiro Hyakudome
Japan Agency for Marine-Earth Science and Technology (JAMSTEC), Japan
1.Introduction
2.SeaWaterandWaterPressureEnvironment
Figure2.ThePrototypePressureVesselmadebyMgAlloy(Tube
Part)
Figure3.TheRelationofWaterPressurev.s.Strain
Figure4.ThePrototypeHybridPressureVesselType1
3.SinkFattoUnderwaterVehicles?
Thedeepunderwatervehiclesbecameheavyweighteven
if use lightweight materials for frames and pressure
vessels. Some materials need to be able to float a heavy
bodytouseadeepunderwatervehiclelikeaspaceshuttle
many times. Therefore it is necessary to add buoyancy
materials such as the human fat to a deep underwater
vehicle.
The buoyancy materials include gasoline, wood,
expandable polystyrene and syntactic foam. The
characteristic of the gasoline is lighter than seawater and
notbrokenbywaterpressurebecauseofliquid.Itsspecific
gravity is around 0.8 from 0.75. However, it is
largecapacity need to use it as the buoyancy material.
And it is flammable. The volume of gasoline changes by
water pressure and temperature. Therefore, the handling
4.ThereisNoGasorBatteryChargeStation
Figure6.VolumeEnergyDensityv.s.WeightEnergyDensityof
SeveralBatteries
Figure7.TheLithiumIonBatteryforAUV
Figure8.TheClosedCycleFuelCellsystemforAUV
Figure9.TheIVcurvesoftheHGCandURASHIMAscell
5.WhereisTheVehicleNow?
Thepositionalinformationofthevehicleisindispensable
toobtainthemarinedatawiththemeaning.However,the
positionalinformationwiththeGlobalPositioningSystem
is not available because radio waves are not usable in
underwater.Thevehicleitselfcalculatesitspositionusing
Inertial Navigation System (INS) and velocity log, or the
vehicle is informed its position by a support vessel or a
transponder with acoustic navigation system. One of
InertialNavigationSystemsisshowninfigure10.TheINS
calculates absolute position of the moving body in real
time. The Type of the INS applied in JAMSTEC is the
strapdown. The strapdown method is fellow method
that inertia sensors are fixed to the moving body, the
sensoroutputiscountedbackward,andtherateofchange
is estimated. The INS developing in JAMSTEC is
composed of a sensor unit and an arithmetical unit. The
senor unit is composed of three gyroscopes and three
accelerometers. The gyroscope is a measure detecting an
angleandanangularvelocityofanobject.Ithasfivekinds
of methods that are rate gyros, vibrating structure gyros,
gasrategyros,fiberopticgyrosandringlasergyros.The
rategyrousesaspinningtop.Thevibratingstructuregyro
usestheresonancesuchastuningforks.Asforthegasrate
gyro, gas is sprayed on the heat rays in a housing. Heat
rays temperature detects thatspray is curved by Coriolis
force when the housing turns around. As for the fiber
opticgyroandringlasergyro,laserbeamsismadetogo
around by mirrors or in a fiber in the housing. The
phenomenon that timings from the emission to receiving
of the laser changed when the housing turns around is
used.Amongfivekindsofgyros,theringlasergyroisone
of optical rate gyro that has high precision and a wide
dynamic range. The arithmetical unit defines the
threedimensional coordinate system inside it (INS
coordinate system), and an accelerometer and a gyro are
setoneachaxisofit.Theoutputsoftheaccelerometersare
processed by the coordinate transform matrix which is
constructed by the output from the gyros. These are
integrated twice. Consequently, the current absolute
position of the moving body is calculated. The current
posture of it is calculated by the coordinate transform
matrix. The coordinate transform matrix expresses the
posture relationship between the INS coordinate system
and the Earth coordinate system. The several algorithms
to reduce calculations error of the INS is developing in
JAMSTEC.
The vehicle is capable of cruising dozens of times owing
totheinternalpowersupplysystems.Howeveritisvery
difficultforittocruisewithhighprecisionforalongtime
autonomously, dependent only on the INS, because the
positiondatacalculatedfromINSincludesanerrorfactor,
andtheerrorincreaseswiththepassageoftime.Therefore
the vehicle has a hybrid system which combines the INS
and the velocity log. This hybrid system enables the
vehicletogetmoreaccuratepositiondatathanusingonly
the INS. The velocity in underwater is measured by
following four measures, Pitot tube velocity log, rotor
typevelocitylogs,electromagneticvelocitylogs,Doppler
VelocityLogs(DVLs).ThePitottubevelocityloghasgood
accuracy in middle range speed measurement. It is
influenced by turbulence and bubble, and precision
deteriorates.Inaddition,itisaffectedbytemperatureand
density of the seawater. It has some errors when the
vehicle turns. Anything should not attach to its sensor
part. So, the pitot tube velocity log is not suitable for the
underwater velocity log. The rotor type velocity log is
good in the measurement of the low speed range. It is
affected by turbulence. Theinfluence of temperature and
thedensityoftheseawateronitissmall.Itsmeasurement
accuracy is low. So, the rotor type velocity log is not
suitable for the cruising type underwater vehicles. The
electromagnetic velocity log has effective ranges from
slight low speed to high speed. It is highly precise. It is
affectedbyturbulence.Itisnotinfluencedbytemperature
and density ofthe seawater.It has some errors when the
vehicle turns. So, the electromagnetic velocity log is not
suitable for the cruising type underwater vehicles. The
Dopplervelocityloghaseffectiverangesfromlowspeed
tohighspeed.Ithassmallinfluenceoftheturbulenceand
small error when the vehicle turns. Also, it can measure
against water or seafloor alternatively and correct
influenceoftemperatureandthedensityoftheseawater.
TheDopplerVelocityLogissuitableforthecruisingtype
underwatervehicle.
Figure10.TheInertialNavigationSystem
Accelerometer
Ring Laser Gyro
Inertial
Nvaigation
System
7.SmartControlSystem
Asmartcontrolsystemneedforautonomousunderwater
vehiclestocruiseinsafelyandpreciselyforlongtime.The
systemneedstocontrolaboutthedevicessuchasthruster,
INS, rearranging of the information of the vehicle, and
motionofthebody.Thecomputerofthevehicleneedsto
do the information processing of a lot of devices. A
distributed processing system is necessary, so that
processingdoesnotconcentrateononeCPU.
Ontheotherhand,TheAutonomousunderwatervehicles
canmovefreely,becausetheydonotneedcableforpower
supply and communications. So, the vehicles are able to
maneuver precisely by a highperformance controller.
JAMSTECs AUV is a vehicle designed for scientific
surveys. These surveys require precise maneuvering of
thevehiclefordetailedinvestigations.Thevehicleequips
someacousticobservationdevicessuchassidescansonar,
subbottomprofilerandmultibeamechosounder.These
devices need stable cruising, maintaining depth or
altitude, maintaining direction or survey line and so on.
To satisfy these demands, an advances control system is
one of the solutions for highperformance
maneuverability. An accurate mathematical model based
on vehicle dynamics is needed for design of the
highperformance controller. The dynamic model of a
vehicle in 6 degrees of freedom is described by two
coordinateframesasindicatedinfigure12.Thenotations
for the motions of the vehicle are described by the
followingvectors:
| |
| |
| |
T
z y x z y x
T
T
M M M F F F
r q p w v u
z y x
, , , , ,
, , , , ,
, , , , ,
=
=
=
t
v
u | q
(1)
t v = M
(2)
Kinematicequations:
(
(
(
(
(
(
+
+
=
(
(
(
w
v
u
z
y
x
u | u | u
| u | | u | u
| u | | u | u
cos cos cos sin sin
cos sin sin sin cos cos cos sin sin sin sin cos
sin sin cos sin cos sin cos cos sin sin cos cos
(3)
(
(
(
(
(
(
=
(
(
(
r
q
p
u | u |
| |
u | u |
u
|
sec cos sec sin 0
sin cos 0
tan cos tan sin 1
(4)
Where
(
(
(
(
(
(
(
(
+
+
+
+
+
+
=
66
55
44
33
22
11
0 0 0 0
0 0 0
0 0 0 0
0 0 0 0
0 0 0
0 0 0 0
A I mx
A I mx mz
A I mz
mx A m
mx mz A m
mz A m
M
zz G
yy G G
xx G
G
G G
G
(5)
qr mz pq mx ur A m pw A m F
G G y
+ + = ) ( ) (
11 33
u | cos sin ) ( g m V +
| | | | | | r v Y r r Y v v Y r Y v Y
vr rr vv r v
+ + + + +
+(SteeringforceofRudderandelevator) (7)
2 2
11 22
( ) ( )
z G G G
F m A uq m A vp mx pr mz p mz q = + + + +
u | cos cos ) ( g m V +
| | | | | | q w Z q q Z w w Z q Z w Z
wq qq ww q w
+ + + + +
+(SteeringforceofRudderandelevator) (8)
ru mz pw mz vw A A qr A I A I M
G G zz yy x
+ + + + = ) ( )) ( ) ((
33 22 66 55
u | cos sin ) ( g z mz
B G
V
| | p p K r K v K
pp r v
+ + +
+(SteeringforceofRudderandelevator)+Torque (9)
rv mz qw mz qu mx pv mx rp A I A I M
G G G G xx zz y
+ + + + = )) ( ) ((
44 66
u u | sin ) ( cos cos ) ( g z mz g x mx
B G B G
V V
| | | | | | q w M q q M w w M q M w M
wq qq ww q w
+ + + + +
+(SteeringforceofRudderandelevator) (10)
ru mx pw mx pq A I A I M
G G yy xx z
+ + + = )) ( ) ((
55 44
u | cos sin ) ( g x mx
B G
V +
| | | | | | r v N r r N v v N r N v N
vr rr vv r v
+ + + + +
+(SteeringforceofRudderandelevator) (11)
x = Ax + Bu
y
M
= C
M
x
(12)
Wherethex=[q
T
v
T
|
T
isstatevariable,theu=[nMT,oH,oV]
T
is
control input and yM=[z u u v w p q r]
T
is observed
output. Arobustservosystemwithobserverisdesigned
such as shown in figure 13 based on the linear
mathematical model (Eq. (12)). The integral action is
necessary to let the vehicle follow target input. The
observer is used for filter effect. Where the xob is state
observer, the F and FI are gain matrix, the z is observed
output,thezcistargetinputandtheeiserrorofzandzc.
A control purpose is to design optimal feedback gain
stabilizinganerroretozero.Thetechniqueoftheoptimal
regulator is LQI (Liner Quadratic optimum control with
Integral action) method. The quadratic performance
functionisfollows:
} = ] {e
T
Q
E
e +u
T
R
E
u]ut
0
(13)
Where,QEandREareweightmatrix.
Figure12.TheBodyFixedandTheEarthFixedReferenceFrames
Figure 13. The Block Diagram for Robust Servo Control System
withObserver
8.NavigationModes
Theautonomousunderwatervehicleneedstohavesome
navigation modes such as autonomous navigation mode
and acoustic remote control mode for many scientific
survey requirements. The concept is shown in figure 14.
Modesarechosenaccordingtothemissiontype.
Theautonomousnavigationmode:theworkingschedule
is preset on the computer in the vehicle before starting
observations. The schedule includes the cruising course
andprocedureofobservationdevices.Thesupportvessel
carriesthevehicletotheobservationareaandisusedfor
launching and recovery. The vehicle independently
cruiseswithoutanyinformationfromthesupportvessel.
When the vehicle notices some obstacles along its
programmedcourse,ittakesavoidanceactionbyitself.In
the case of long range cruising, some acoustic
transponders are arranged along the cruising course for
reference. The vehicle can correct its position by
communication with transponders, making positioning
accuracybetter.
Figure14.TheConceptofTheNavigationModes
9.NextDream
Westartedresearchanddevelopmentofademonstration
longrange vehicle to cruise over 1,000 kilometers. It is
important to improve many elemental technologies such
as power source and navigation system and so on to
achieve this aim. Figure 15 shows a concept image of
concentrating these elemental technologies to next
generationvehicle.
10.References