An algorithm for determining permisible 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 underwaterrobotic vehicle. The problem of determining permissible propulsive forces and momentsnecessary for optimum power distribution within a propulsion system composed of azi-muth propellers (rotative ones). To allocate thrusts the unconstrained optimization me-thod making it possible to obtain a minimum-norm solution, was applied. A method waspresented for assessing propulsion system capability to generate propulsive forces (setcontrol inputs). For the case of lack of such capability an algorithm was proposed makingmodification of their values and determination of feasible propulsive forces (i.e. permissible controlinputs), possible. A numerical example which confirmed correctness and effectiveness of the proposedapproach, was also attached

• Wydawca: -
• Czasopismo: Polish Maritime Research
• Rocznik: 2005
• Tom: 12
• Numer: 4
• Opis fizyczny: p.26-31,fig.,ref.

Twórcy

autor

Garus J.

• Department of Mechanical and Electrical Engineering, Polish Naval University, Smidowicza 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 Vehiclein Horizontal Plane. Polish Maritime Research, Vol. 11,No. 2/2004
• 4. Garus J.: A Method of Determination of Control Inputs Limit forRemotely Operated Vehicle. Proc. of the 10th IEEE (the Institute of Electrical and Electronics Engineers, Inc.) Int. Conf. onMethods 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 AppliedMathematics and Computer Science, Vol. 14, No. 4/2004
• 6. Garus J.: Power distribution control in propulsion system ofunderwater vehicle (in Polish). Zeszyty Naukowe AMW(Scientific Bulletins of Polish Naval University), No. 160B/2005