Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle

Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle

Bibliographic Details
Parent link:IOP Conference Series: Materials Science and Engineering
Vol. 124 : Mechanical Engineering, Automation and Control Systems (MEACS2015).— 2016.— [012019, 6 p.]
Main Author: Khozhaev I. V. Ivan Valerievich
Corporate Author: Национальный исследовательский Томский политехнический университет (ТПУ) Институт кибернетики (ИК) Кафедра автоматики и компьютерных систем (АИКС)
Other Authors: Gaivoronsky (Gayvoronsky) S. A. Sergey Anatolievich
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.
Language:English
Published: 2016
Series:Integrated Computer Control Systems in Mechanical Engineering
Subjects:
электронный ресурс
труды учёных ТПУ
контроллеры
системы управления
подводные аппараты
автономные системы
ПИД-регуляторы
математические модели
Online Access:http://dx.doi.org/10.1088/1757-899X/124/1/012019
http://earchive.tpu.ru/handle/11683/33830
Format: Electronic Book Chapter
KOHA link:https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=648493

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