Movement control and guidance of an automated underwater vehicle

Pauck, Simon James (2010-03)

Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2010.

Thesis

ENGLISH ABSTRACT: This thesis presents the design process of the movement control and guidance systems for an automated underwater vehicle (AUV) constructed by the Institute of Maritime Technology in Simon’s Town. The full non-linear mathematical model and simulation environment for the AUV were previously developed in [1]. The design process in this thesis covers an analysis of existing test data and the performance of the current systems in place on the AUV, derivation and analysis of the linear model for the AUV, design of upgraded control and guidance systems, analysis of the new designs including simulation results, practical implementation of the new designs and the results thereof. Over the course of this project a number of flaws were identified in the original control designs and other aspects of the AUV. Most notably, the capability of the AUV is limited owing to its construction, and the current control and guidance methods result in poor movement characteristics. The new control designs are executed through multiple SISO feedback loops, with the most complicated controllers consisting of proportional and integral control. A completely new guidance method was designed which grants theAUVthe ability to track both straight line and circular path segments with no steady state error. These designs were tested in simulation, with results showing good tracking performance, even in the presence of output disturbances. The new designs were implemented on the physical AUV, but testing was limited, with poor results being obtained. The poor test results were caused primarily by the construction of the AUV.

AFRIKAANSE OPSOMMING: Hierdie tesis stel die ontwerpsproses voor vir die bewegingsbeheer- en navigasiestelsels vir ’n outonome duikboot wat gebou is deur die Instituut vir Maritieme Tegnologie in Simonstad. Die volle nie-lineˆere wiskundige model en simulasieomgewing vir die duikboot is voorheen ontwikkel in [1]. Die ontwerpsproses in hierdie tesis behels ’n analise van bestaande toetsdata en van die werksverrigting van die stelsels wat tans op die duikboot ge¨ınstalleer is, die afleiding en analise van ’n lineˆere model vir die duikboot, die ontwerp van verbeterde beheer- en navigasiestelsels, die analise van die nuwe ontwerpe, wat simulasieresultate insluit, die praktiese implementering van die nuwe ontwerpe, en die resultate daarvan. Deur die loop van die projek is ’n aantal tekortkominge ge¨ıdentifiseer in die oorspronklike beheerstelselontwerpe en ander aspekte van die duikboot. Die mees beduidende tekortkominge is dat die vermo¨e van die duikboot beperk word deur die konstruksie daarvan, en dat die huidige beheer- en navigasietegnieke swak bewegingseienskappe lewer. Die nuwe beheerstelselontwerpe is uitgevoer deur ’n aantal enkelintree, enkeluittree terugvoerlusse, waar die mees komplekse beheerders bestaan uit proporsionele en integraalbeheer. ’n Heeltemal nuwe navigasiemetode is ontwerp, wat die duikboot in staat stel om beide reguit lyne en sirkulˆere padsegmente te volg sonder ’n stasionˆere volgfout. Hierdie ontwerpe is getoets in simulasie, waar die resultate goeie volging getoon het, selfs in die teenwoordigheid van uittreeversteurings. Die nuwe ontwerpe is ge¨ımplementeer op die fisiese duikboot, maar beperkte toetse is gedoen, en het swak resultate gelewer. Die swak toetsresultate was hoofsaaklik as gevolg van die konstruksie van die duikboot.

Please refer to this item in SUNScholar by using the following persistent URL: http://hdl.handle.net/10019.1/4244
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