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Название: Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle
Авторы: Khozhaev, Ivan Valerievich
Gaivoronsky, Sergey Anatolievich
Ключевые слова: контроллеры; системы управления; подводные аппараты; автономные системы; ПИД-регуляторы; математические модели
Дата публикации: 2016
Издатель: IOP Publishing
Библиографическое описание: Khozhaev I. V. Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle / I. V. Khozhaev, S. A. Gaivoronsky // IOP Conference Series: Materials Science and Engineering. — 2016. — Vol. 124 : Mechanical Engineering, Automation and Control Systems (MEACS2015) : International Conference, 1–4 December 2015, Tomsk, Russia : [proceedings]. — [012019, 6 p.].
Аннотация: 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.
URI: http://earchive.tpu.ru/handle/11683/33830
Располагается в коллекциях:Материалы конференций

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