Design and Implementation of a Novel Hybrid Driven Underwater Vehicle

Abstract

In the paper, a novel hybrid driven underwater vehicle which can realize anti-disturbance twice is proposed. When is disturbed by the water surge and waves in the shallow water area, the attitude of the vehicle can be once adjusted by the attitude control algorithm and the motion drive system. Then the second anti-disturbance adjustment over shooting platform by a three-axis cloud terrace is actualized. The attitude control of the camera platform is realized by two anti-disturbance adjustments that ensures the whole shooting process continuous, smooth and complete. The design of the mechanical structure and the control system are main contents of the paper. Kinematics analysis and dynamics modeling are also included. Simulations and the software design are performed to demonstrate the feasibility of the system.

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