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)

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)

Bibliographische Detailangaben
Parent link:IOP Conference Series: Materials Science and Engineering
Vol. 124 : Mechanical Engineering, Automation and Control Systems (MEACS2015).— 2016.— [012019, 6 p.]
1. Verfasser: Khozhaev I. V. Ivan Valerievich
Körperschaft: Томский политехнический университет Институт кибернетики, ИК
Weitere Verfasser: Gaivoronsky (Gayvoronsky) S. A. Sergey Anatolievich
Zusammenfassung: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.
Sprache:Englisch
Veröffentlicht: 2016
Schriftenreihe:Integrated Computer Control Systems in Mechanical Engineering
Schlagworte:
электронный ресурс
труды учёных ТПУ
контроллеры
системы управления
подводные аппараты
автономные системы
ПИД-регуляторы
математические модели
Online-Zugang:http://dx.doi.org/10.1088/1757-899X/124/1/012019
http://earchive.tpu.ru/handle/11683/33830
Format: Elektronisch Buchkapitel
KOHA link:https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=648493

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