標題: Modifications of Control Loop to Improve the Depth Response of Autonomous Underwater Vehicles
作者: Hsu, Sheng-Ping
Liu, Tzong-Shi
機械工程學系
Department of Mechanical Engineering
公開日期: 2014
摘要: During a constant depth maneuver of an autonomous underwater vehicle (AUV), its pitch attitude and stern plane deflections create forces and moments to achieve equilibrium in the vertical plane. If an AUV has a proportional controller only in its depth control loop, then different weights or centers of gravity will cause different steady-state depth errors at trimmed conditions. In general, a steady-state depth error can be eliminated by adding an integral controller in the depth control loop. However, an improper integrator may lead to a bad transient response, even though the steady-state depth error can finally be eliminated. To remove the steady-state depth error, this study proposes methods that adjust the depth command and add a switching integral controller in the depth control loop. Simulation results demonstrate that the steady-state depth error can be eliminated and the transient response can be improved.
URI: http://hdl.handle.net/11536/25109
http://dx.doi.org/10.1155/2014/324813
ISSN: 1024-123X
DOI: 10.1155/2014/324813
期刊: MATHEMATICAL PROBLEMS IN ENGINEERING
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