DocumentCode :
3727248
Title :
System of automatic stabilization of underwater vehicle in hang mode with working multilink manipulator
Author :
Vladimir F. Filaretov;Alexandr Yu. Konoplin
Author_Institution :
Far Eastern Federal University, Institute for automation and control processes Far Eastern Branch of RAS, Vladivostok, Russia
fYear :
2015
Firstpage :
132
Lastpage :
137
Abstract :
In this work the synthesis method of combined closed-loop automatic system of underwater vehicle position and orientation stabilization in hang mode (station keeping regime) is described. Underwater vehicle invariance to external influences created by working underwater manipulator is provided by thrusts of vehicle screws. These thrusts are proportional to said external influences calculated in real time scale. For precise calculation of these influences the recursive algorithm for solving of inverse problem of underwater manipulator dynamic was developed. Presented algorithm allows to take into account all features of viscous environment influences on manipulator links committing random movements at high speed. To increase accuracy of underwater vehicle stabilization additional automatic closed-loop systems for all linear and angular movement of this vehicle was synthesized. Said systems can use data obtained from high-precision navigation onboard sensors and devices.
Keywords :
"Force","Heuristic algorithms","Friction","Manipulator dynamics","Torque","Economic indicators"
Publisher :
ieee
Conference_Titel :
Computer, Control, Informatics and its Applications (IC3INA), 2015 International Conference on
Type :
conf
DOI :
10.1109/IC3INA.2015.7377760
Filename :
7377760
Link To Document :
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