:: Volume 4 - ::
ijcoe 2016, 4 - : 11-18 Back to browse issues page
Modeling and Control of Autonomous Underwater Vehicle (AUV) In Heading and Depth Attitude via PPD Controller with State Feedback
Soroush Vahid , Kaveh Javanmard
PhD candidate, Semnan University
Abstract:   (296 Views)
This paper focuses on design of AUV control system to control depth and pitch. Complexity and highly coupled dynamics, time-variance, and difficulty in hydrodynamic modeling and simulation, complicates the AUV modeling process and the design of proper and acceptable controller. A PD (Proportional- Derivative) controller, control the vehicle pitch and an outer P loop controller with state feedback will control the depth. The kinematic and dynamic equations will be extracted using various conditions such as the relative speed along the axis X (u), the speed along the axis Z (w), Pitch rate, forward position relative to the ground (x), depth (z), and the Pitch angle (Ɵ). Then we linearize the equations of motion of the AUV by choosing a suitable set of operating conditions. For effective control of the motion of AUVs, we need to design controllers based on the AUV’s dynamic model. Through the control of propeller and fin’s deflection, we can achieve the control system of AUVs. The simulation results indicate that developed control system is stable, competent, and efficient enough to control the AUV in tracking the two channels of heading and depth with stabilized speed.
Keywords: AUV PPD (Proportional- Proportional –Derivative) Pitch Circulate hydrodynamic
Full-Text [PDF 563 kb]   (313 Downloads)    
Type of Study: Research | Subject: Sub-sea Technology
Received: 2018/01/25 | Accepted: 2018/01/25 | Published: 2018/01/25

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