Abstract
Autonomous underwater vehicles are often used for performing scientific, emergency or other types of missions under harsh conditions and environments, which can have non-stable, variable parameters. So, the problem of developing autonomous underwater vehicle motion control systems, capable of operating properly in random environments, is highly relevant. The paper is dedicated to the synthesis of a PID-controller of a trim robust control system, capable of keeping an underwater vehicle stable during a translation at different angles of attack. In order to synthesize the PID-controller, two problems were solved: a new method of synthesizing a robust controller was developed and a mathematical model of an underwater vehicle motion process was derived. The newly developed mathematical model structure is simpler than others due to acceptance of some of the system parameters as interval ones. The synthesis method is based on a system poles allocation approach and allows providing the necessary transient process quality in a considered system.
Highlights
Modern underwater operations and activities dedicated to scientific, industrial or emergency issues cannot be always performed by a human, especially in harsh environments
The course is manipulated by a horizontal steering thruster, the depth and trim are manipulated by vertical steering thrusters, translation velocity is manipulated by main thrusters
Manipulating the trim of the autonomous underwater vehicles (AUVs) is considered to be performed by applying the moment of a couple of forces, generated by vertical steering thrusters, to a body of the AUV as it is shown in the Figure 2
Summary
Modern underwater operations and activities dedicated to scientific, industrial or emergency issues cannot be always performed by a human, especially in harsh environments. This makes a problem of autonomous underwater vehicles (AUVs) development relevant. In order to operate effectively, an AUV must be equipped with a control system, manipulating several parameters: course, roll, trim, translation velocity and depth. The course is manipulated by a horizontal steering thruster, the depth and trim are manipulated by vertical steering thrusters, translation velocity is manipulated by main thrusters. The construction of the propulsion and steering system allows considering the trim stabilization problem separately from manipulating the course and roll, so, in this paper it is considered that the course and roll are properly controlled by other subsystems of the AUV.
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