Simulation on the motion characteristics of an unmanned untethered submersible

Tanaka, Noboru; Mochizuki, Masahito; Oda, Toshikane

doi:10.1109/uust.1985.1158528

Cited by 1 publication

(1 citation statement)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Tanaka, Mochizuki and Oda [ 7 ] present a series of simulations in which a large submersible (7800 kg dry weight) with variable metacentric height is commanded with a step input in forward thrust. The simulations were based on the results of scale model tests.…”

Section: Minimizing Dynamic Couplingmentioning

confidence: 99%

Design of Underwater Vehicles for High Performance Control

et al. 1986

View full text Add to dashboard Cite

02543ABSTPSlCT Design considerations for high performance control of remotely operated underwater vehicles are presented, focussing on the performance limits imposed by navigation, actuators, dynamic uncertainty, control strategies, and the dynamics of the vehicle. As coupling between translation and attitude present a major impediment to high bandwidth control, techniques for reducing this coupling are presented. In-water test data is presented for the new JASON Junior vehicle currently being designed and built at the Deep Submergence Laboratory. INTRODUCTIONRemotely operated underwater vehicles (ROV's) can be made more capable through the use of automatic controls. If all movements of a vehicle are automated, the system can be made more capable and easier to operate. To obtain good closed-loop performance however, careful attention must be paid to all elements of the system, including sensors, control algorithms, and the dynamics of the vehicle. A solid closed-loop control system for all vehicle motions can then serve as the foundation of a supervisory control system that allows the human operator to command movement from a high level interface.This paper examines the issue of dynamic coupling between translation and attitude. This coupling is pronounced in many vehicles. Earlier analytical and experimental work has shown such coupling to be a signficant problem both for manual and automatic control. In manual control, such coupling is disorienting to the operator and reduces video quality. In automatic control, this coupling can form a significant limit on the performance in translation.This work is being applied to JASON and its predecesor JASON Jr., ROV's for deep ocean scientific applications under development at Woods Hole. JASON will be deployed from the ARGO optical and acoustic imaging vehicle [l], while JASON Jr. will be deployed from the manned submersible ALVIN. The JASON program emphasizes the refinement of supervisory control techniques that will control and coordinate the movements of the vehicle and manipulators from high level commands given by the human operator. Supervisory control will permit precise, repeatable surveys and will boost productivity in sampling.In supervisory control a computer interacts directly with a process while a human operator manages the system. The foundations of the supervisory control system for an ROV will be closed-loop trajectory controllers. Closed-loop control of manipulator functions is common in the offshore industry today, and servo-controlled arms are available from several manufacturers. However, closed-loop control of vehicle translation is not available, although automatic depth and attitude controls are found on many vehicles. In addition to a good control system, the vehicle and its sensors must be well designed to give good performance.Closed-loop translational control of a vehicle can greatly improve performance in inspection and manipulation tasks. A vehicle with such a control system could function well under conditions of high currents and poor vis...

show abstract

Section: Minimizing Dynamic Couplingmentioning

confidence: 99%