Title :
Mathematical modeling and experimental test of Manta-type UUV
Author :
Kim, Hyeong-Dong ; Byun, Seung-Woo ; Lee, Seung-Keon ; Kim, Joon-Young ; Jang, Taek Soo ; Choi, Hang S.
Author_Institution :
Dept. of Naval Archit. & Ocean Eng., Pusan Nat. Univ., Pusan, South Korea
Abstract :
This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and H∞ controllers are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in towing tank for depth keeping and heading angle tracking.
Keywords :
Doppler measurement; H∞ control; biomimetics; control engineering computing; control system synthesis; fuzzy control; hydrodynamics; mobile robots; motion control; position control; position measurement; remotely operated vehicles; robot dynamics; three-term control; underwater vehicles; variable structure systems; Doppler velocity Log; H∞ controller; Manta-type UUV; PID control; Windows XP operating system; angle measurement; control algorithm; control design; depth control; depth keeping; dynamic model; elevator; experimental test; fuzzy control; hardware implementation; heading angle control; heading angle tracking; hydrodynamic coefficients; hydrodynamic forces; longitudinal propulsion; manta-type unmanned underwater vehicle; mathematical modeling; numerical simulation; on-board PC; planar motion mechanism test; position measurement; pressure sensor; rudder; sliding mode control; system design; towing tank; vehicle control; vehicle thruster; water depth measurement; Batteries; Computers; Doppler effect; Sensors; Trajectory; Vehicles;
Conference_Titel :
Underwater Technology (UT), 2011 IEEE Symposium on and 2011 Workshop on Scientific Use of Submarine Cables and Related Technologies (SSC)
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0165-8
DOI :
10.1109/UT.2011.5774114
