The prototype of an unmanned underwater vehicle - stability and maintain a specified rate (original) (raw)

The Prototype of an Unmanned Underwater Vehicle – Stability and Maintain a Specified Course

Studies in Systems, Decision and Control, 2014

The paper presents the modules of the control system remotely operated unmanned underwater vehicle used to stabilize the exchange rate and maintain the direction of motion. The authors present a simple control algorithms, and presented the verification of the assumed conditions of a real object. The control algorithms used information from the accelerometers, pressure sensors and an electronic compass.

Design and Control of Unmanned Underwater Vehicle

Sukkur IBA Journal of Emerging Technologies, 2018

Unmanned Underwater Vehicles (UUV) are the robots that are used to monitor underwater environment at remote distance, either for inspection of underwater wreckage or for surveillance of underwater environment. Any such robot due to harshness of environment conditions needs a robust watertight design and requires various sensors for effective environment monitoring. The entire UUV structure is comprised of the vehicle, which is linked with operators on top of the surface by a set of cables that hold relevant cables for data and power communication. In this context, a lightweight underwater vehicle was designed using PVC (Polyvinyl Chloride) pipes and equipped with brushless DC motors, electronic speed controller, relay module, sonar, claw arm and Camera. It can navigate in six directions (up, down, left, right, forward, backward) and camera allows underwater surveillance of the environment, with sonar helping to indicate the target depth. The designed UUV can also perform basic pick and place task using a claw arm and is remotely operated using a joystick controller. Overall, the designed UUV prototype has shown its potential capabilities for underwater surveillance and environment monitoring through practical demonstrations.

Development of a control system for an Autonomous Underwater Vehicle

2010 IEEE/OES Autonomous Underwater Vehicles, 2010

This work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASV), moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of the vehicle on the surface allows the navigation through GPS and telemetry communication by radio-modem. The vehicle is 2300mm long by 320mm wide. It weighs 85kg and reaches a maximum depth of 30m. A control system based on an embedded computer is designed and developed for this vehicle that allows a vehicle's autonomous navigation. This control system has been divided into navigation, propulsion, safety and data acquisition subsystems.

Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle

International Journal of Advanced Robotic Systems, 2014

Underwater remotely operated vehicles (ROVs) play an important role in a number of shallow and deep-water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic control, ROV state feedback is provided by acoustic and inertial sensors and this state information, along with a controller strategy, is used to perform several tasks such as station-keeping and auto-immersion/heading, among others. In this paper, the modelling, design and control of the Kaxan ROV is presented: i) The complete six degrees of freedom, non linear hydrodynamic model with its parameters, ii) the Kaxan hardware/software architecture, iii) numerical simulations in Matlab/Simulink platform of a model-free second order sliding mode control along with ocean currents as disturbance...

Stabilizing the dynamic behavior and Position control of a Remotely Operated Underwater Vehicle

Wireless Personal Communications, 2020

Remotely operated underwater vehicle (ROUV) provides an interesting and extensible platform to search the wanted objects and for the inspection of deep sea. The basic goal of this research is to control the position and stabilize the dynamic behavior of ROUV. In this study, we design the dual controller approach design for controlling the overall responses of ROUV. The design dual controller consists of model reference adaptive control (MRAC) along with proportional integral derivative (PID) controller and an integral use for the feedback of the design scheme. The dynamic moments and disturbances in the system is dealt by MRAC controller and PID controller is responsible for tuning the adaptive gains of the system. However, Lyapunov stability criterion is responsible for the stability of the system. The inclusion of integrator as a feedback in the system increases the order of the system model, but it helps to eliminate the steady state error and also improves the convergence rate of the system. The designed control algorithm is tested and confirmed its validity using experiment and simulations by tracking the reference path of the ROUV. It is evidence that the designed control system shows quick convergence, improved steady state error and better robustness in the presence of disturbances.

Underwater Remotely Operated Vehicle Control System Ar-chitecture

2024

Underwater Remotely Operated Vehicle (ROV) control system architecture, work Class II-underwater inspection is demonstrated. The object is programmed on MATLAB simulink. The nonlinear modeled plants were processed by approximation way. Author planned a controller of an underwater ROV object. PID controller is used modeled plant. Tuning PID tool is used MATLAB for choose underwater ROV controller. Researchers tested an underwater ROV for system and solving problems an underwater ROV architecture.

A review on motion control of the Underwater Vehicles

2009

Unmanned Underwater Vehicles have gained popularity for the last decades, especially for the purpose of not risking human life in dangerous operations. On the other hand, underwater environment introduces numerous challenges in control, navigation and communication of such vehicles. Certainly, this fact makes the development of these vehicles more interesting and engineering-wise more attractive. In this review study, among the mentioned problems, we focus on the control of underwater vehicles, particularly the motion control. We try to summarize the evolution of the underwater vehicle motion control studies throughout the last two decades, and classify them.

Development of Control System for Small Autonomous Underwater Vehicle

2020

This work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles and Autonomous Surface Vehicles, that moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of the vehicle on the surface allows the navigation through GPS and telemetry communication by radio-modem. This control system has been divided into navigation, propulsion, safety and data acquisition subsystems.

Operations and control of unmanned underwater vehicles

Robótica, 2005

Operations and control of unmanned underwater vehicle systems are discussed in terms of systems and technologies, vehicles, operational deployments and concepts of operation. The notions underlying the specification of single vehicle operations are contrasted to new concepts of operation to illustrate the challenges they pose to control engineering. New research directions are discussed in the context of the theories and techniques from dynamic optimization and computer science. The overall discussion is done in the context of the activities of the

An autonomous underwater platform

1997

For manv subsea Autonomous Underwater Vehicle (AUV) operations station-holding against water current and decoupling benveen yaw and position are necessary requirements. This paper describes an Autonomous Undemater Platfbrm (AUP) that has been designed special11 to investigate and evaluate control methods which can provide this Qpe of stabiliiy. The AUP described is small and nimble, and has a re-configurable structure, cornprising a 2-dimensional A-frame with modules, thrust units and controllable brioyan mounted upon it. Two and f i v e niodiiles can be c according to mission requirement. The structure design of an AUV I S a complex trade-off among various design variables and mission requirements This paper presents the design and discusses the optimal conjiguration of the dynamics of the AUP, its sensor systems and control methods The control system of the pla?form is composed of a state control loop, a selfplaning arid navigation subs> stem and an ultrasonic comniunicatiori subsystem.

Study on Control System of Integrated Unmanned Surface Vehicle and Underwater Vehicle

Sensors

In this paper, in order to overcome certain limitations of previously commercialized platforms, a new integrated unmanned surface vehicle (USV) and unmanned underwater vehicle (UUV) platform connected via underwater cable capable of acquiring real-time underwater data and long-time operation are studied. A catamaran-type USV was designed to overcome the limitations of an ocean environment and to play the role as the hub of power supply and communication for the integrated platform. Meanwhile, the UUV was designed as torpedo-shaped to minimize hydrodynamic resistance and its hardware design was focused on processing and sending the underwater camera and sonar data. The underwater cable driven by a winch system was installed to supply power from the USV to the UUV and to transmit acquired data form underwater sonar sensor or camera. Different from other previously studied cooperation system of USVs and autonomous underwater vehicles (AUVs), the merit of the proposed system is real-tim...

Design and simulation of an autonomous underwater vehicle

The Mechatronics and Dynamic Modelling Lab of the University of Florence (MDM Lab) is developing an AUV (Autonomous Underwater Vehicle), called "Tifone", for the monitoring of underwater archaeological sites. This research is a part of the Thesaurus project, funded by Regione Toscana. The vehicle is designed in order to carry out a customizable payload according to different mission profiles. The main technical requirements of the vehicle are a maximum operative depth of 300 m, a maximum speed of 5 knots and an autonomy of more than 8 hours; a torpedo-like design allows to achieve benefits from a fluidodynamic point of view. A high manoeuvrability and hovering capacities are required to perform complex explorations and monitoring tasks: that is why a motion control based on lateral and vertical thrusters has been preferred with respect to the typical use of control surfaces, also in order to have a more reliable system as concerns component failures. The control system has to ensure a good trade-off between manoeuvrability and stability at cruise speed, too. The paper focuses on two different control strategies, corresponding to the different mission profiles the vehicle is able to perform.

Control of Autonomous UnderwaterVehicles

2012

This is to certify that the thesis entitled "Control of Autonomous Underwater Vehicles" by Mr. Raja Rout, submitted to the National Institute of Technology, Rourkela (Deemed University) for the award of Master of Technology by Research in Electrical Engineering, is a record of bonafide research work carried out by him in the Department of Electrical Engineering , under my supervision. We believe that this thesis fulfills part of the requirements for the award of degree of Master of Technology by Research.The results embodied in the thesis have not been submitted for the award of any other degree elsewhere.

Design and Motion Control of Autonomous Underwater Vehicle, Amogh

Underwater Technology (UT) 2015 IEEE, 2015

Autonomous Underwater Vehicles (AUV) are slow-moving small unmanned robots capable of swimming independently below the water surface on pre-defined mission paths and are commonly used for oceanographic exploration, bathymetric surveys and military applications. With the use of appropriate sensors and equipment, AUVs can perform underwater object recognition and obstacle avoidance. Amogh is a miniature AUV developed at Centre For Innovation (CFI), IIT Madras for AUVSI RoboSub competition. The vehicle has a non-conventional dual hull heavy bottom hydrodynamic design equipped with six thrusters which allow for motion control in 4 degrees of freedom. This paper presents various aspects of the unique design of the vehicle. The performance of a simple PID controller for steady depth and heading control has been discussed. Simulations performed on a decoupled mathematical model of the vehicle are compared against experimental results.

Navigation and Motion Control Systems of the Autonomous Underwater Vehicle

EUREKA: Physics and Engineering, 2020

Autonomous underwater vehicles (AUVs) are widely used and have proven their effectiveness in tasks such as transportation safety, area monitoring and seafloor mapping. When developing AUV’s navigation and control systems, the engineers have to ensure the required levels of accuracy and reliability for solving navigation and motion control tasks in autonomous underwater operation under restrictions on the overall dimensions and power consumption of the AUV. The main purpose of this paper is to present preliminary results of AUV navigation and motion control systems development. The AUV’s navigation system is built around strapdown inertial navigation system (SINS) designed specifically for this AUV. When surfaced, position and angular SINS correction is performed using data from dual-antenna GNSS receiver and doppler velocity log (DVL). When underwater, SINS position and velocity correction is performed using acoustic navigation system (ANS) and DVL data. AUV’s control system provide...

A Control Module Scheme for an Underactuated Underwater Robotic Vehicle

Journal of Intelligent and Robotic Systems, 2006

Despite major advances in Autonomous Underwater Vehicle design, the manually operated Underwater Vehicle (ROV) is still very much the industry workhorse. Current technologies are being used to reduce the stress of direct task operations by providing autonomy and to improve efficiency. This paper presents a design of a control module subsystem for a VE tele-operated ROV system. It discusses the design and implementation of the control module. Using modelling, simulation and experiments, the vehicle model and its parameters have been identified. These are used in the analysis and design of closed loop stabilising controllers for station keeping. As the vehicle has fewer actuators than possible degrees of freedom, it is necessary to limit the controllable degrees of freedom. These variables are eventually selected based on the inherent vehicle dynamics. Using the Lyapunov direct method, appropriate stabilising controllers have been designed. The stationkeeping mode controller has PID structure and its gain values are designed using a non-linear optimising approach. Simulation and swimming pool tests for the heave and yaw directions have shown that the control module is able to provide reasonable depth and heading station keeping.

A Low-Cost Remotely Operated Underwater Vehicle

Measurement and Control, 1996

One type of underwater robot is the ROV (Remotely Operated Vehicle) whose movements are controlled directly by humans from the water surface. In this paper, ROV prototype has been designed and tested with three DoF (Degrees of Freedom) and controlled by a joystick which is connected with UTP (Unshielded Twisted Pair) cables as data transmission between joystick with a microcontroller embedded in the robot. This prototype has 3 thrusters with 3 degrees of freedom, 1 rotational motion (heave) and 2 translational motion (yaw and surge), with direction of movement up, down, forward, backward, turn right, and turn left. Speed mode setting when forward movement on PWM (Pulse Width Modulation

Simulation of Kinematic and Dynamic Models of an Underwater Remotely Operated Vehicle

2012

The implementation of the dynamic and kinematic models of an underwater remotely operated vehicle (VideoRay Pro III) in Matlab/Simulink is presented. The system was built as a closed loop configuration where the inputs are the desired bodyfixed velocities or the inertial-frame position and orientation. The block diagram allows for the observation of the UROV states and thrusts exerted by the propellers. The implementation of the VideoRay Pro III models is the initial phase of a research that seeks to establish the instrumentation and computational architecture for the aided inertial navigation of an UROV.

Technical system and control algorithms of the underwater vehicle Krab II

Underwater vehicle (UV) Krab II, the possession of the Maritime Technology and Informatics Faculty of TU of Szczecin, is being gradually equipped with various systems improving its performance, among other things with systems for automatic control of the course angle and the depth of the vehicle. In the paper there is described technical construction of the system, enabling application and verification of various modern control methods. Two among the four methods investigated by the authors, the robust and fuzzy controller of the UV are described in the paper.

DESIGN, MANUFACTURE AND TEST AN UNMANNED UNDERWATER VEHICLE (UUV)

This report outlines the design manufacturing and testing of a UUV. The vehicles CAD model was generated using CATIA V5 and was analysed using ANSYS FLUENT computational fluid dynamic analysis. The results was used to define the most suitable power source for the control system. A configuration of the control systems was made, with results outlined in this report. Axis systems of a numerical model was discussed and control systems simulation of linear model conducted using MATLAB/Simulink. A prototype of the main system controls was fabricated and developed into an AUV using Arduino IDE software and open source sketch code. Wet and dry testing operations considered and software test conducted to evaluate the performance of the prototype.