Zhang, S.; Sun, L.; Fan, L.; Song, S., and Li, Z., 2018. Modularized control system design of underwater vehicle for submarine cable inspection. In: Liu, Z.L. and Mi, C. (eds.), Advances in Sustainable Port and Ocean Engineering. Journal of Coastal Research, Special Issue No. 83, pp. 579–584. Coconut Creek (Florida), ISSN 0749-0208.

At present, the control system of underwater vehicle does not take into account the influence of nonlinear hydrodynamic factors, but mainly collects the state information from the central controller and generates control signals. The control function of the system is concentrated, which leads to poor system flow resistance and slower speed. In view of this problem, combined with the actual application requirements of underwater vehicle for submarine cable inspection, in this paper, a method of control system design based on modular thinking is proposed. Considering the nonlinear hydrodynamic factors, the four degree of freedom motion modeling method of vehicle is presented. The hardware part of the vehicle control system is decomposed into a series of standard modules according to the function. By using the method of modularization, the control system design of underwater vehicle for submarine cable inspection is designed. Experimental results show that the system has better anti-flow capability and faster speed.

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