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.
In this work method of synthesis of system of automatic correction of program trajectory of motion of multilink manipulator installed on underwater vehicle was discussed. Developed system allows solving problem of fast and high quality performing of underwater manipulation operations with less operator fatigue at underwater vehicle hang mode near object of work even at unintended displacements of underwater vehicle from initial position. Using of synthesized system is assumed with well-known systems of automatic stabilization of underwater vehicle in desirable point of space. Proposed automatic correction provides additional movements of multilink manipulator effector. This correction is based on information about actual angular and linear displacements of underwater vehicle from initial position and information about constantly varied configuration of multilink manipulator. Results of performed mathematical modeling have confirmed high efficiency of synthesized system.
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AbstractThis paper describes development and research of the new synthesis method of control system for autonomous and remotely controlled underwater vehicles and for multilink manipulators mounted on the vehicles. Such system admits to realize widely used underwater research manipulation operations in automatic mode. Some of them are: collecting bioorganisms, definition of composition and density of the soil with special probes and drills, taking precipitation samples with hermetically sealed soil tubes, measurements with thermistor sensors in different layers of sedimentary soil.
The paper presents a fault accommodation system for electric servo actuators of underwater manipulators. These actuators are described by nonlinear equations with variable parameters. It is assumed, that the following typical faults are possible in electric servo actuators: fault caused by changing of viscous friction moment and error in the sensor, which measures the position of output shaft of gear. The proposed system is based on using of diagnostic observers with residual signal feedback. It is proposed the methodology of synthesis of such observers for detection and identification of occurred faults. The accommodation to faults is ensured due to the generation of additional control signals based on identified value of faults. This provides the reliability of underwater working of manipulators at faults. The efficiency of the proposed system is confirmed by mathematical modelling.
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