Modifications of Control Loop to Improve the Depth Response of Autonomous Underwater Vehicles
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-08-12
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Hsu, Sheng-Ping& Liu, Tzong-Shi. 2014. Modifications of Control Loop to Improve the Depth Response of Autonomous Underwater Vehicles. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-463578
Modern Language Association (MLA)
Hsu, Sheng-Ping& Liu, Tzong-Shi. Modifications of Control Loop to Improve the Depth Response of Autonomous Underwater Vehicles. Mathematical Problems in Engineering No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-463578
American Medical Association (AMA)
Hsu, Sheng-Ping& Liu, Tzong-Shi. Modifications of Control Loop to Improve the Depth Response of Autonomous Underwater Vehicles. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-463578
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-463578