The stabilization interval system of a tethered descent underwater vehicle

Transcription

1 IOP Conference Serie: Material Science and Engineering PAPER OPEN ACCESS The tabilization interval ytem of a tethered decent underwater vehicle To cite thi article: S A Gayvoronkiy et al 016 IOP Conf. Ser.: Mater. Sci. Eng View the article online for update and enhancement. Thi content wa downloaded from IP addre on 06/1/017 at 17:11

2 MEACS015 IOP Conf. Serie: Material Science and Engineering 14 (016) doi: / x/14/1/01008 The tabilization interval ytem of a tethered decent underwater vehicle S A Gayvoronkiy, T Ezangina, I Khozhaev and S V Efimov Department of Automatic and Computer Sytem, Tomk Polytechnic Univerity, 30, Lenina ave., Tomk, , Ruia eza-tanya@yandex.ru Abtract. To damp the vertical ocillation of a decent ubmerible caued by duting the control ytem utilizing a hock-aborbing hoit located on the ubmerible wa developed. A robut proportional-plu-integral action controller wa included in the control loop to enure acceptable dynamic propertie of the ytem by interval variation of the module ma, the rope length, the equivalent value of tiffne of a pring linkage and the equivalent value of damping factor of the pring linkage. A parametric ynthei of the controller wa carried out on the bai of the robut expanion of the coefficient method of the quality rating etimation. The ytem operability wa confirmed by the reult of the digital imulation parameter 1. Introduction At preent, there i an active development of the great ocean by tand-alone unmanned ubmerible. However, according to [1-3], ome real-world problem are till urgent, which are reaonable to olve by mean of a tethered decent underwater vehicle (DUV) connected with a hip-carrier by a cablerope. In accordance with [1-3], engineering, exploration oceanographic and another marine reearch are conducted by DUV. The decent ubmerible during it decent and acent and by it location cloe to the ea-bed undergoe ome vertical ocillation under the influence of duting and can become unable to carry out ome underea exploration (DUV can hit the bottom). The poibility of the reonance ocillation due to frequency coincidence of the longitudinal ocillation in the cable with the ea roughne i the mot dangerou phenomenon. The problem of DUV control become more complicated ince ome phyical parameter of the control ytem are preciely unknown or tend to change within certain limit in the proce of operation in accordance with law that are unknown beforehand (the cable parameter, hoit drive parameter, DUV ma). Therefore, the development of a peed control ytem of DUV able to damp the ocillation of DUV in the duting environment and the interval uncertainty of parameter i very urgent. Therefore, the olution of the following problem i of great importance: the development of the robut tabilization ytem tructure of DUV with interval parameter; ynthei of the robut controller (regulator) capable to maintain ytem operability under any variation of the cable length and DUV ma; DUV control ytem imulation for the analyi of it dynamic propertie. Content from thi work may be ued under the term of the Creative Common Attribution 3.0 licence. Any further ditribution of thi work mut maintain attribution to the author() and the title of the work, journal citation and DOI. Publihed under licence by Ltd 1

3 MEACS015 IOP Conf. Serie: Material Science and Engineering 14 (016) doi: / x/14/1/ Block diagram of the tabilization ytem of a ubmerible In order to olve the aigned tak the block diagram of the tabilization ytem of a ubmerible, preented in Figure 1 i offered. The ytem include two hoit: a boat hoit (BH) located on the hip and intended for DUV decent and acent and a hock-aborbing hoit (SAH) intalled on DUV ued to damp it vertical ocillation. The following ymbol are introduced in Figure 1: SCTD-enor of cable tenion deviation; CS comparion-ummator, CON control block, which implement the elected law of control, SS peed elector. Figure 1. Functional diagram of the DUV tabilization ytem The ytem ha a diturbance input (ignal V du the peed of the vertical vehicle movement under the influence of duting. An output ignal i V DUV peed of DUV. The intrinic coordinate of the ytem are lettered in Figure 1 a follow: V ah linear peed of SAH; F tf tenion force in the rope. SAH intalled at a tethered decent underwater vehicle i ued to compenate for the ea ocillating motion. In thi mode the tenion deviation from the et value correponding to the DUV weight i meaured by a enor of cable tenion deviation. The output ignal of the enor pae to the SUH controller. Let u write down the equation of eparate ytem component. The block diagram i arranged on the bai of thee equation. The equation of the vertical movement of the tethered ubmerible vehicle i a follow: dvduv m = Ftf, dt where m i ma of the tethered ubmerible vehicle. The incluion of the reilient member of quaizero tiffne in the rope linkage between the hip and the tethered ubmerible vehicle allow conidering the tiffne of the reilient member a equivalent tiffne. The damping of the reilient member will be determined in the ame way a the damping of pring linkage. The equation of pring linkage i obtained on the bai of Hooke' law. d(( xdu ) ( xah + xtv )) Ftf = С(( xdu + xbh ) ( xah + xtv )) + χ, dt where C i an equivalent value of tiffne of the pring linkage, which i equal to the tiffne of the reilient member, χ i an equivalent value of the damping factor of the pring linkage, which i equal

4 MEACS015 IOP Conf. Serie: Material Science and Engineering 14 (016) doi: / x/14/1/01008 to the damping of the reilient member, xdu i a vertical movement of the hip, x SAH i a movement of the rope on the drum of SAH, xtv i the vertical movement of the tethered ubmerible vehicle. The electric drive of SAH i decribed by the following equation: dω ah J = Md + М tf, dt where J i a moment of SAH inertia, ω ah i angular velocity of the drum rotation of SAH, M d i a controlling torque of the SAH drive, М н i a torque produced on SAH by the rope tenion force. Thu, M ( ) d = km Uc Ue, where k m i the tranfer contant of SAH drive per torque, Uс i the output voltage of the SAH controller, Uе = keω i a revere electromotive force (EMF) voltage of the SAH drive, e i a revere EMF coefficient of the SAH drive, R i a drum radiu of SAH. The mathematical decription of a BH electric drive i imilar to the decription of the SAH drive. The analyi of the tranfer function of the peed feed forward control ytem of DUV under the teady-tate condition with different W con ha hown that it i reaonable to ue a controller which enure the ataticim of the firt order in the ytem. It tranfer function can be preented a follow: W ( сon ) = ( k )/. 1+ k The given controller ha two etting parameter k 1, k, determining the quality of the tranient procee in the ytem. Thu, the block diagram of the ytem obtained on the bai of the above mentioned mathematical decription i illutrated in Figure. The ytem ha the following contant parameter [1]: К m =0,3 (Nm/A); К e =1 (V/rad); J =0,5 (kgm ); R =0,1 (m) and interval parameter χ =[35;00] (N/m); C = [800; ] ](N/m); m = [ ; ] (kg); l=[;10] (m). DUV k Figure. Structure diagram of the DUV tabilization ytem The differential equation correponding to the block diagram hown in Figure are a follow: 3 1 A() = [ a33] + [ a3] + [ a13] + [ a03], (1) where [ a] = [ Ck ] ( k * + [ m ] R k k ); 0 m е DUV SCTD 1 [ a ] = [ C] R [ m ]( k k k + R ) + [ C] J + [ χ] k ( k + R [ m ] k k ); * * 1 DUV m SCTD m е DUV SCTD 1 [ a] = [ m ] k k + [ χ] J + R[ m ][ χ]( R + kk k ); * DUV m е DUV SCTD m * [ a3] = J[ m DUV ]. A it i hown in (1), the polynomial coefficient include linearly the controller etting and multilinearly the interval ytem parameter. Due to availability of the interval-undetermined parameter in the ytem it i neceary to impart thi ytem ome robut propertie enuring the 3

5 MEACS015 IOP Conf. Serie: Material Science and Engineering 14 (016) doi: / x/14/1/01008 preervation of a permiible performance quality at any poible variation of untable parameter [4]. It i uggeted that one hould apply a robut approach by the parametric ynthei of PIcontroller in the control loop of SAH ( k 1 = 0.078, k = ). 3. Control proce imulation To tet the operability of the robut tabilization ytem of DUV with a yntheized proportional - integral (PI) controller, let u carry out it mathematical model in Matlab by mean of Simulink appendix. In the imulation we ued the model of duting, which i maximally cloe to real condition. A block diagram of thi model i hown in Figure 3. Band-Limited White Noie О Figure 3. Block diagram of a duting model The analyi of the robut tabilization ytem of DUV ha hown that by any poible value of the interval parameter of the ytem the amplitude of peed fluctuation V DUV i inignificant under the impact of the duting, and it maximum i m/ (Figure 4, а). We can conclude from Figure 4 (b) that if the tabilization ytem of DUV i not utilized, the amplitude of peed fluctuation V DUV i ignificant and i equal to the amplitude of vertical movement of the watercraft in the duting environment. (a) (b) Figure 4. Diagram of the peed fluctuation of the DUV vertical movement in the decent mode (a) the robut tabilization ytem i utilized; (b) the tabilization ytem of DUV i not utilized 4

6 MEACS015 IOP Conf. Serie: Material Science and Engineering 14 (016) doi: / x/14/1/01008 Thu, the uggeted block diagram of the robut tabilization ytem of DUV and the technique of the parametric ynthei of the robut PI controller etting enable a olution of the problem aociated with ocillation damping of DUV in the marine roughne environment and variation of the ytem parameter. 4. Concluion The robut tabilization ytem of DUV that enable compenation of the influence of the hip-carrier rocking by decent and acent of DUV a well a paing near the ea-bed wa developed in the given article. To adjut the interval parameter of the PI- controller ued in the ytem, the interval expanion of the coefficient method and the criterion of a maximum robut degree of tability were applied. The operating efficiency of the deigned ytem wa confirmed in Matlab by the reult of it imulation under different mode of the operation correponding to the boundary value of the interval parameter of the ytem. Acknowledgment The reported tudy wa partially upported by RFBR, reearch project No Reference [1] Nam B W, Hong S Y and Kim Y S 013 International Journal of Offhore and Polar Engineering 3(1) [] Rowe S, Mackenzie B and Snell R 001 Proceeding of the 10th Offhore Sympoium 1 9 [3] Neupert J, Mahl T, Haeig B, Sawodny O and Schneider K 008 American Control Conference [4] Ezangina T A and Gayvoronkiy S A 014 Advanced Material Reearch