An algorithm for determining permissible control inputs to unmanned Underwater Robotic Vehicle (URV) fitted with azimuth propellers

• Autorzy: Garus J.
• Języki publikacji: EN

Abstrakty

EN

The paper deals with synthesis of automatic control system for an unmanned underwater robotic vehicle. The problem of determining permissible propulsive forces and moments necessary for optimum power distribution within a propulsion system composed of azimuth propellers (rotative ones). To allocate thrusts the unconstrained optimization method making it possible to obtain a minimum-norm solution, was applied. A method was presented for assessing propulsion system capability to generate propulsive forces (set control inputs). For the case of lack of such capability an algorithm was proposed making modification of their values and determination of feasible propulsive forces (i.e. permissible control inputs), possible. A numerical example which confirmed correctness and effectiveness of the proposed approach, was also attached.

Słowa kluczowe

EN

underwater vehicle; propulsion system; azimuth propeller; control

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2005
• Tom: nr 4
• Strony: 26--31
• Opis fizyczny: Bibliogr. 6 poz., rys.

Twórcy

autor

Garus J.

• Department of Mechanical and Electrical Engineering, Polish Naval University Śmidowicza 69 81-103 Gdynia, POLAND

Bibliografia

• 1. Fossen T.I.: Guidance and Control of Ocean Vehicles. John Wiley and Sons. Chichester, 1994
• 2. Fossen T.I.: Marine Control Systems. Marine Cybernetics AS. Trondheim, 2002
• 3. Garus J.: Kinematical Control of Motion of Underwater Vehicle in Horizontal Plane. Polish Maritime Research, Vol. 11, No. 2/2004
• 4. Garus J.: A Method of Determination of Control Inputs Limit for Remotely Operated Vehicle. Proc. of the 10th IEEE (the Institute of Electrical and Electronics Engineers, Inc.) Int. Conf. on Methods and Models in Automation and Robotics MMAR’2004, Międzyzdroje (Poland), 2004
• 5. Garus J.: Optimization of Thrust Allocation in the Propulsion System of an Underwater Vehicle. Int. Journal of Applied Mathematics and Computer Science, Vol. 14, No. 4/2004
• 6. Garus J.: Power distribution control in propulsion system of underwater vehicle (in Polish). Zeszyty Naukowe AMW (Scientific Bulletins of Polish Naval University), No. 160B/2005