A robust propulsion layout for underwater vehicles with enhanced manoeuvrability and reliability features

Pugi, Luca; Pagliai, Marco; Allotta, Benedetto

doi:10.1177/1475090217696569

Cited by 17 publications

(10 citation statements)

References 21 publications

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“…Simulation of landing maneuvers will be improved considering all the motions of the ship-deck due to wave induced motions exploiting previous research activities in the marine sector [57,58]. Finally, further calibration and improvements of the proposed solution are still object of research.…”

Section: A) B)mentioning

confidence: 99%

“…Finally, for Directional VTOL desired efforts are allocated on propellers with a model based approach that calculate desired speed references for each propeller from desire thrusts and torques. Also this approach is quite more refined respect to allocation criteria that conventionally adopted on drones since model based allocation according thruster model is more commonly adopted in recent studies [35,36] concerning the control of AUVs (Autonomous Underwater Vehicles).…”

mentioning

confidence: 99%

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An Innovative UAV with VTOL Capabilities

Pugi¹,

Berzi²,

Favilli³

et al. 2023

Preprint

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Object of this work is the design and the simulation of a hybrid UAV with VTOL capabilities that has been designed for landing on naval moving platforms. The work is focused on the innovative propulsion layout adopted on the UAV. Authors discuss how adopted low level control strategies can exploit the innovative features of the proposed system assuring a good rejection of transversal wind disturbances. Particular attention is dedicated to low level modelling and control of the system emphasizing how choices regarding low level actuation and control should improve performances and robustness of the system.

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Section: A) B)mentioning

confidence: 99%

mentioning

confidence: 99%

An Innovative UAV with VTOL Capabilities

Pugi¹,

Berzi²,

Favilli³

et al. 2023

Preprint

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“…The main control device is propeller for the turning manipulation under hover condition. They are related to propeller diameter D p , propeller speed n, inlet velocity V a, water density p, water viscosity coefficient v and gravitational acceleration g. The value of thrust T and torque Q can be computed with following equation [28]:…”

Section: Mathematical Model and Manipulation Constraints For Hover Motionmentioning

confidence: 99%

Research on the Heading Control of Underwater Vehicle Under Hover Condition

et al. 2020

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A guidance and control algorithm for the heading control of a large underwater vehicle in hover state is proposed. The complexity of the flow field makes it difficult to build an accurate mathematical model for heading control under hover condition. Furthermore, the turning motion in the hover state causes additional vertical hydrodynamic and pitching moments which may affect the control performance of depth and pitching, and even bring safety problems. An H ∞ synthesis method is proposed, in which guidance weighting function is designed for the heading control constraints, sensitivity weighting function for the tracking performance requirements, and uncertainty weighting function for modeling error. Firstly, the hydrodynamic characteristics and constraints of hover and steering are analyzed, and the mathematical model is established. Secondly, based on the analysis of the affection of steering motion on depth and trim state, a control strategy is proposed to suppress interference by setting steering speed and limiting acceleration, which improves the safety of the control algorithm. And then, a H ∞ robust control algorithm based on three kinds of weighting function is designed. Finally, the method is simulated by using submarine model and validated by underwater vehicle experiment.The research in this paper has potential application value for safety and low noise performance for the control of large underwater platform and manned submarines.

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“…Thrusters are key power-providing units of an autonomous underwater vehicle (AUV) 1 . They constitute AUV’s propulsion system with strong working intensity, 2 as a result that faults are liable to occur on thrusters. 3,4 Faults will degrade the thruster performance.…”

Section: Introductionmentioning

confidence: 99%

A fault diagnosis approach for autonomous underwater vehicle thrusters using time-frequency entropy enhancement and boundary constraint–assisted relative gray relational grade

Yin

Zhang

Lin

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents a novel thruster fault diagnosis approach for an autonomous underwater vehicle. In the novel approach, a time-frequency entropy enhancement is used to extract feature, and then a boundary constraint–assisted relative gray relational grade is applied to identify thruster fault. The time-frequency entropy enhancement is developed from the smoothed pseudo Wigner–Ville distribution combined with Shannon entropy. First, the energy distributions of autonomous underwater vehicle dynamic signals are given in the time-frequency plane. And then the energy concentration in the energy distribution is enhanced based on a serial signal processing, including wavelet decomposition, modified Bayes’ classification algorithm, and two dimensional convolution operation, successively. After that the Shannon entropy of the energy distribution is calculated. The boundary constraint–assisted relative gray relational grade comes from the gray relational analysis. A mapping function between the relative gray relational grade and the fault severity is established. And then the boundary constraints of relative gray relational grades at each standard fault level are determined. Moreover, the mapping function is modified based on the boundary constraints. Experiments are performed on an experimental prototype autonomous underwater vehicle in a pool. The experimental results demonstrate the effectiveness of the developed approaches in terms of improving the sensitivity of the fault feature to the fault severity, compared with the smoothed pseudo Wigner–Ville distribution combined with Shannon entropy, and increasing the identification accuracy, compared with the gray relational analysis.

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A robust propulsion layout for underwater vehicles with enhanced manoeuvrability and reliability features

Cited by 17 publications

References 21 publications

An Innovative UAV with VTOL Capabilities

An Innovative UAV with VTOL Capabilities

Research on the Heading Control of Underwater Vehicle Under Hover Condition

A fault diagnosis approach for autonomous underwater vehicle thrusters using time-frequency entropy enhancement and boundary constraint–assisted relative gray relational grade

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