Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle

International Conference on Mechanical Engineering, Automation and Control Systems 2015

机械制造;无线电电子学;计算机科学

Khozhaev, I.V.^1 ; Gayvoronskiy, S.A.^1

Tomsk Polytechnic University, 30, Lenina ave., Tomsk

634050, Russia^1

关键词: Allocation approach;    Angles of attack;    Random environment;    Robust controllers;    Synthesis method;    Transient process;    Underwater vehicles;    Variable parameters;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/124/1/012019/pdf
DOI  :  10.1088/1757-899X/124/1/012019

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

Autonomous underwater vehicles are often used for performing scientific, emergency or other types of missions under harsh conditions and environments, which can have non-stable, variable parameters. So, the problem of developing autonomous underwater vehicle motion control systems, capable of operating properly in random environments, is highly relevant. The paper is dedicated to the synthesis of a PID-controller of a trim robust control system, capable of keeping an underwater vehicle stable during a translation at different angles of attack. In order to synthesize the PID-controller, two problems were solved: a new method of synthesizing a robust controller was developed and a mathematical model of an underwater vehicle motion process was derived. The newly developed mathematical model structure is simpler than others due to acceptance of some of the system parameters as interval ones. The synthesis method is based on a system poles allocation approach and allows providing the necessary transient process quality in a considered system.