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Article

Combined Depth Control Strategy for Low-Speed and Long-Range Autonomous Underwater Vehicles

by
Anyuan Bi
1,*,
Fengye Zhao
1,
Xiantao Zhang
2,3 and
Tong Ge
1,3
1
School of Naval Architecture, Ocean & Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
2
State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
3
Collaborative Innovation Centre for Advanced Ship and Dee-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China
*
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2020, 8(3), 181; https://doi.org/10.3390/jmse8030181
Submission received: 22 February 2020 / Revised: 2 March 2020 / Accepted: 4 March 2020 / Published: 7 March 2020
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Abstract

Autonomous underwater vehicles (AUVs) are increasingly being applied to highly detailed survey and inspection tasks over large ocean regions. These vehicles are required to have underwater hovering and low-speed cruising capabilities, and energy-saving property to enable long-range missions. To this end, a combined depth control strategy is proposed in which an on-off type variable ballast system (VBS) is adopted for satisfactory hovering or fast descending/ascending without propulsion to reach the designated cruising depth, whereas the bow and stern fins act as the actuator to maintain the cruising depth for more energy saving. A hierarchical architecture-based VBS controller, which comprises a ballast water mass planner and an on-off mass flowrate controller, is developed to assure good hovering performance of the on-off type VBS. Both numerical studies and basin tests are conducted on a middle-sized AUV to verify the feasibility and validity of this depth control strategy.
Keywords: autonomous underwater vehicles; depth control; variable ballast system; hierarchical architecture; on-off type mass flowrate autonomous underwater vehicles; depth control; variable ballast system; hierarchical architecture; on-off type mass flowrate

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MDPI and ACS Style

Bi, A.; Zhao, F.; Zhang, X.; Ge, T. Combined Depth Control Strategy for Low-Speed and Long-Range Autonomous Underwater Vehicles. J. Mar. Sci. Eng. 2020, 8, 181. https://doi.org/10.3390/jmse8030181

AMA Style

Bi A, Zhao F, Zhang X, Ge T. Combined Depth Control Strategy for Low-Speed and Long-Range Autonomous Underwater Vehicles. Journal of Marine Science and Engineering. 2020; 8(3):181. https://doi.org/10.3390/jmse8030181

Chicago/Turabian Style

Bi, Anyuan, Fengye Zhao, Xiantao Zhang, and Tong Ge. 2020. "Combined Depth Control Strategy for Low-Speed and Long-Range Autonomous Underwater Vehicles" Journal of Marine Science and Engineering 8, no. 3: 181. https://doi.org/10.3390/jmse8030181

APA Style

Bi, A., Zhao, F., Zhang, X., & Ge, T. (2020). Combined Depth Control Strategy for Low-Speed and Long-Range Autonomous Underwater Vehicles. Journal of Marine Science and Engineering, 8(3), 181. https://doi.org/10.3390/jmse8030181

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