Stability control of propeller Autonomous Underwater Vehicle based on combined sections method

• Autorzy: Qi D. , Feng J. , Liu A. , Hu J. , Xu H. , Li Y. , Ashraf M. A.

Identyfikatory

DOI

10.1515/pomr-2015-0048

• Języki publikacji: EN

Abstrakty

EN

Learning from the motion principle of quadrotor, a symmetric propeller AUV, which has small size and low velocity is designed. Compared with the AUV equipped with rudders, it has better maneuverability and manipulation at low velocity. According to the Newton-Euler method, the 6 DOF kinematic model and dynamic model of the propeller AUV are established. A stability controller that consists of 3 different PID controllers is designed. It makes the depth and attitude angle as trigger conditions, and the relevant controller is chosen in different moving process. The simulation experiments simulate ideal motion state and disturbed motion state, and experiments results show that the stability controller based on combined sections method can make the best of mature technology of PID, and meet the control requirements in different stages. It has a higher respond speed and accuracy, improving the stability of the propeller AUV under the disturbance of complex ocean currents.

Słowa kluczowe

EN

propeller AUV; dynamic model; stability control; simulation

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2015
• Tom: S 1
• Strony: 157--162
• Opis fizyczny: Bibliogr. 11 poz., rys., tab.

Twórcy

autor

Qi D.

• Aeronautics and Astronautics Engineering College Air Force Engineering University Xi’an 710038 CHINA

autor

Feng J.

• Aeronautics and Astronautics Engineering College Air Force Engineering University Xi’an 710038 CHINA

autor

Liu A.

• Aeronautics and Astronautics Engineering College Air Force Engineering University Xi’an 710038 CHINA

autor

Hu J.

• Aeronautics and Astronautics Engineering College Air Force Engineering University Xi’an 710038 CHINA

autor

Xu H.

• Aeronautics and Astronautics Engineering College Air Force Engineering University Xi’an 710038 CHINA

autor

Li Y.

• Engineering University of CAPF, Xi’an 710086, China

autor

Ashraf M. A.

• Department of Geology, Faculty of Science, University Of Malaya 50603 Kuala Lumpur, Malaysia
• Faculty of Science & Natural Resources, Universiti Malaysia Sabah, 88400 Kota Kinabalu, Sabah, Malaysia

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.