چکیده مقاله
This paper presents a simultaneous control approach for depth, sway and speed of an autonomous underwater vehicle AUV considering the control surface angle limits To this end, at first the nonlinear kinematic and dynamic equations of motion for a 6 Degrees of freedom DOF AUV is derived, and in order to verify the equations of motion and the robot’s treatment in open loop structure, the results of motion for Remus 100 in the horizontal plane are compared with the results given in other references for this famous AUV type Then, the simultaneous control of depth, sway and speed of the underwater vehicle is investigated and simulations are implemented in Matlab Simulink software In this work, two conventional Proportional Integral Derivative PID controllers are used for inner and outer loops, i e , pitch and depth control scheme, respectively, and two inner and outer PID controllers are also employed for yaw and sway control Furthermore, a P controller is applied for the speed control of AUV The results confirm that the proposed control scheme equipped with inner and outer loops having certain saturation conditions for the rudder and stern fins as actuators is not only capable of controlling the aforementioned combined motion of AUV but also yields the satisfactory performance in speed control
کلیدواژهها
نویسندگان
Javad Jahanpour
Department of Mechanical Engineering, Mashhad Branch, Islamic Azad University, Mashhad, Iran
Amirhossein Erfani
Department of Mechanical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
Nooshafarin Jahanpour
Department of Medical Laboratory Sciences, Faculty of Allied Medicine, Mashhad University of Medical Sciences
Nazanin Jahanpour
Department of Medical Laboratory Sciences, Faculty of Allied Medicine, Mashhad University of Medical Sciences
Hooman Jabbari
Department of Mechanical Engineering, Birjand Branch, Islamic Azad University, Birjand, Iran
SeyyedReza Hosseini
Department of Mechanical Engineering, Montazeri Technical College of Mashhad, Mashhad, Iran
شیوه ارجاع
Jahanpour, Javad and Erfani, Amirhossein and Jahanpour, Nooshafarin and Jahanpour, Nazanin and Jabbari, Hooman and Hosseini, SeyyedReza,1401,A Simultaneous Position and Velocity Control of an Autonomous Underwater Vehicle,The 19th National Conference and the 8th International Conference on Construction and Production Engineering of Iran,Mashhad
ارائهشده در
مجموعه مقالات نوزدهمین همایش ملی و هشتمین کنفرانس بین المللی مهندسی ساخت و تولید ایران18 اسفند 1401 · مشهد