Please use this identifier to cite or link to this item:
http://earchive.tpu.ru/handle/11683/33830
Title: | Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle |
Authors: | Khozhaev, Ivan Valerievich Gaivoronsky, Sergey Anatolievich |
Keywords: | контроллеры; системы управления; подводные аппараты; автономные системы; ПИД-регуляторы; математические модели |
Issue Date: | 2016 |
Publisher: | IOP Publishing |
Citation: | 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.]. |
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. |
URI: | http://earchive.tpu.ru/handle/11683/33830 |
Appears in Collections: | Материалы конференций |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
dx.doi.org-10.1088-1757-899X-124-1-012019.pdf | 747,85 kB | Adobe PDF | View/Open |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.