Title :
Altitude control feasibility for a seaweed harvester
Author :
Gallieri, Marco ; Ringwood, John
Author_Institution :
Dipt. di Ing., Inf., Gestionale e dell´´ Autom., Univ.´´ Politec. delle Marche, Ancona, Italy
Abstract :
In this paper, the feasibility of the altitude control of a seaweed harvester is examined. The harvesting system consists of a vessel and a suspended harvester device, the altitude of which is controlled by a winch. The goal of the control action is to maintain the harvester at a constant altitude with respect to the seabed profile. A control strategy is proposed, including a vessel motion feed-forward action, using a motion reference unit (MRU), and an altitude feedback loop, using a sonar device for altitude measurement.
Keywords :
aquaculture; feedforward; height measurement; motion control; sonar; altitude control feasibility; altitude feedback loop; altitude measurement; motion reference unit; seaweed harvester; sonar device; suspended harvester device; vessel motion feed-forward action; Control systems; Feedback loop; Feedforward systems; Hydrodynamics; Marine vehicles; Motion control; Sea measurements; Sonar measurements; Three-term control; Winches;
Conference_Titel :
Industrial Technology (ICIT), 2010 IEEE International Conference on
Conference_Location :
Vi a del Mar
Print_ISBN :
978-1-4244-5695-6
Electronic_ISBN :
978-1-4244-5696-3
DOI :
10.1109/ICIT.2010.5472654
