Title :
Motion control of AUV based on embedded operation system
Author :
Lei, Zhang ; Yongjie, Pang ; Ye, Li ; Lei, Wan
Author_Institution :
State Key Lab. of Autonomous Underwater Vehicle, Harbin Eng. Univ., Harbin
Abstract :
The software and hardware architecture of a certain AUV´s motion control system based on embedded operation system are respectively described, and the data flow of motion control process is also discussed. Meanwhile, a switch function is presented to smooth the instruction output during joint operating with rudders and thrusters; a modified S-plane Controller (MSC) is proposed by analyzing underwater vehicle´s dynamics and taking static force and coupling effects between the longitude velocity and other dimensions into account. Finally, some experiments are conducted, and the results prove the motion control system feasible.
Keywords :
control engineering computing; embedded systems; motion control; operating systems (computers); remotely operated vehicles; underwater vehicles; autonomous underwater vehicle; data flow; embedded operation system; modified S-plane controller; motion control; Communication system control; Computer architecture; Control systems; Filters; Force control; Hardware; Intelligent control; Motion control; Switches; Underwater vehicles; autonomous underwater vehicle; embedded operation system; hardware architecture; motion control; software architecture;
Conference_Titel :
Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-2799-4
Electronic_ISBN :
978-1-4244-2800-7
DOI :
10.1109/ICIEA.2009.5138379
