Research on Variable Direction Rotatable Axis Variable Vector Propeller of AUV in Vertical Motion

In this paper, a variable direction rotatable axis variable vector propeller (VDRAVVP) is researched. The structure and working principle of VDRAVVP of AUV are described and the mathematic model of AUV in spatial motion was derived based on momentum theorem. Based on the motion model and combined with three degrees of freedom model of vertical motion, a motion simulation system was constructed. Considering the characteristic of VDRAVVP, the depth control and pitch angle control are simulated by adopting both robustPD control method and adaptive robust PD control method. The comparison result shows that the control effect of adaptive robustPD controller is obviously better than robust PD controller invertical motion. The simulation results show that the VDRAVVPof AUV has good spatial maneuverability, and verify the feasibility and reliability of control method.