Fuzzy controller for underwater remotely operated vehicle which is moving in conditions of environment disturbance occurrence

• Autorzy: Żak A.
• Języki publikacji: EN

Abstrakty

EN

Oceans fill two-third surface of the Earth and they are house for majority alive organisms of our planet. However human possibilities of cognition of this environment are very limited. To defeat these limitations lots of scientists dealing with exploration of depths, concentrates on unmanned, remote-controlled underwater vehicle. From seventieth years happened the development of unmanned underwater vehicles which currently administering all characteristic attribute of robot, and have the possibility of shifting and manipulation, ability of technical surroundings' observation, and sometimes are making independent decision in typical situations. For control of all devices of robot responds the system of steering which holds supervision beginning from the propulsion and finishing on switching the video cameras and lighting. In robot's control system the functions of regulator in feedback the most often is realized by operator which is the onlooking working object on monitor installed in deck console. Nowadays more often automatic system of control is used, therefore in this paper such system will be proposed. The main aim of paper is to introduce the results of research concentrated on controlling remotely operated underwater vehicle during movement in conditions of environment disturbance occurrence. Firstly the mathematical model of example ROV is briefly discussed. Next the environment disturbance and its taking into account in mathematical models is shortly described. Next the proposed control system which is using technology of fuzzy logic is presented. At the end the example results of research on stabilizing movements' parameters of ROV during environment disturbance occurrence, using ROV simulator were presented. The paper is finished by summary which include conclusions derive from results of research.

Słowa kluczowe

EN

control; fuzzy logic; underwater remotely operated vehicle; modelling of environment disturbance

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2011
• Tom: Vol. 18, No. 2
• Strony: 499--507
• Opis fizyczny: Bibliogr. 10 poz., rys.

Twórcy

autor

Żak A.

• Polish Naval Academy, Institute of Hydroacoustics Smidowicza Street 69, 81-103 Gdynia, Poland tel.: [phone], fax: [phone],

Bibliografia

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• [3] Gianluca, A., Underwater Robots, Motion and force control of vehicle-manipulator system, Springer, Berlin 2006
• [4] Griffiths, G., Technology and Applications of Autonomous Underwater Vehicles, Taylor & Francis, London 2003
• [5] Piegat, A., Modelowanie i sterowanie rozmyte, Akademicka Oficyna Wydawnicza EXIT, Warszawa 1999
• [6] Roberts, G., Sutton, R., Advances in Unmanned Marine Vehicles, Institution of Electrical Engineers, Stevenage 2006
• [7] The Society of Naval Architects and Marine Engineers, Nomenclature for treating the motion of submerged body through a fluid, Technical and Research Bulletin No. 1-5, New York 1950
• [8] Żak, A., Modelling of underwater vehicle’s dynamics, System Theory and Applications Vol. 2, pp.44-49, 2007
• [9] Żak, A., Modelowanie ruchu bezzałogowego pojazdu podwodnego w warunkach występowania zakłóceń, Modelowanie Inżynierskie 37, Gliwice, 2009
• [10] Żak, A., Implementation of Given Trajectory by Remotely Operated Underwater Vehicle in Conditions of Environment Disturbance Occurrence, Polish Journal of Environmental Studies, Vol. 18, No. 4B, pp. 225-230, 2009.