The paper presents an automatic control system for autonomous surface vehicle. The system is designed to organize autonomous performing of mission defined from ground control station. Structure, hardware and software implementation of autonomous surface vehicle and its navigation and control system as well as experiment results are described.
In this article, development of glider control system for movement in a three-dimensional based on position-trajectory control laws is considered. To ensure control, a model of spatial motion of the glider is used, taking into account the component of the variable buoyancy. As a result of the simulation, the trajectories of the glider were obtained at points set in the horizontal plane, considering the parameters of the trajectory for movement in the vertical plane. The results obtained make it possible to evaluate the adequacy of the developed control system. The deviation of the system when the glider reaches the set point is minimal, and using the trajectory parameters in the vertical plane, it is possible to control the depth of immersion and speed. The presented results of the simulation of coating elements prove the possibility of practical use of the control system when planning glider-type AUV missions.
This paper is part of a series that describe the development and setup of intelligent underwater vehicle. Here we focus on the implementation tests for the identification of the actuating device parameters. An energy efficient type of glider is chosen with its block diagram presented. The assembled model is placed in a mini pool for movement tests with the objective of setting up the motors and pump. When put in neutral, its immersion and surfacing position show that there is interdependent between pump operation time, ballast bag maze, displacement of weight and glider attitude angle. These dependencies are described by linear equations and coefficients which are then identified.
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