Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle; IOP Conference Series: Materials Science and Engineering; Vol. 124 : Mechanical Engineering, Automation and Control Systems (MEACS2015)
| Parent link: | IOP Conference Series: Materials Science and Engineering Vol. 124 : Mechanical Engineering, Automation and Control Systems (MEACS2015).— 2016.— [012019, 6 p.] |
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| Summary: | Title screen 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. |
| Sprog: | engelsk |
| Udgivet: |
2016
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| Serier: | Integrated Computer Control Systems in Mechanical Engineering |
| Fag: | |
| Online adgang: | http://dx.doi.org/10.1088/1757-899X/124/1/012019 http://earchive.tpu.ru/handle/11683/33830 |
| Format: | MixedMaterials Electronisk Book Chapter |
| KOHA link: | https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=648493 |
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| 200 | 1 | |a Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle |f I. V. Khozhaev, S. A. Gaivoronsky | |
| 203 | |a Text |c electronic | ||
| 225 | 1 | |a Integrated Computer Control Systems in Mechanical Engineering | |
| 300 | |a Title screen | ||
| 320 | |a [References: 2 tit.] | ||
| 330 | |a 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. | ||
| 461 | 0 | |0 (RuTPU)RU\TPU\network\2008 |t IOP Conference Series: Materials Science and Engineering | |
| 463 | 0 | |0 (RuTPU)RU\TPU\network\13617 |t Vol. 124 : Mechanical Engineering, Automation and Control Systems (MEACS2015) |o International Conference, 1–4 December 2015, Tomsk, Russia |o [proceedings] |v [012019, 6 p.] |d 2016 | |
| 610 | 1 | |a электронный ресурс | |
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| 610 | 1 | |a подводные аппараты | |
| 610 | 1 | |a автономные системы | |
| 610 | 1 | |a ПИД-регуляторы | |
| 610 | 1 | |a математические модели | |
| 700 | 1 | |a Khozhaev |b I. V. |c specialist in the field of informatics and computer engineering |c engineer of Tomsk Polytechnic University |f 1992- |g Ivan Valerievich |3 (RuTPU)RU\TPU\pers\35632 |9 18801 | |
| 701 | 1 | |a Gaivoronsky (Gayvoronsky) |b S. A. |c specialist in the field of informatics and computer technology |c Associate Professor of Tomsk Polytechnic University, Candidate of technical sciences |f 1961- |g Sergey Anatolievich |3 (RuTPU)RU\TPU\pers\32976 |9 16821 | |
| 712 | 0 | 2 | |a Национальный исследовательский Томский политехнический университет (ТПУ) |b Институт кибернетики (ИК) |b Кафедра автоматики и компьютерных систем (АИКС) |3 (RuTPU)RU\TPU\col\18698 |
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