The depth control of an UUV (Unmanned Underwater Vehicles) is dealt with. The control must not have any overshoot in the position step response because objects, like offshore structures ore submersed industrial installations, can be damaged. PID (Proportional plus Integrating plus Derivating) control is applied. Two different methods are compared for the overshoot suppression: set-point weighting and fuzzy logic reduction of the manipulated variable. In the second procedure the fuzzy logic block has three inputs: set-point error, control error and variation of the controlled variable (position). The output of the fuzzy logic block is the input of the PID controller. Simulation results on a linear model and the model of an UUV with a weight of 185 kg show that the fuzzy logic method is more effective than the set point weighting as the control became not only aperiodic but also faster.
Remotely operated vehicle depth control
Regelung der vertikalen Position eines ferngelenkten Unterwasserfahrzeuges
Control Engineering Practice ; 11 , 4 ; 453-459
2003
7 Seiten, 12 Bilder, 11 Quellen
Aufsatz (Zeitschrift)
Englisch