This research develops a system to combine energy storage and attitude control functions in control moment gyros (CMGs) for application onboard autonomous underwater vehicles (AUVs). This is proposed as part of a hybrid energy storage system to allow AUVs to perform their missions with no chemical battery at all. A geometric study of the interactions between the kinetic energy and angular momentum stored in a CMG pyramid is performed. This forms the basis of a control algorithm that allows the energy mechanically stored in the rotation of the CMG flywheels to power the electronics of the robot, whilst simultaneously controlling its three-axis attitude. The proposed system is implemented onboard the CMG actuated AUV 'IKURA' and underwater experiments are performed to demonstrate combined energy storage and three-axis attitude control.


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    Title :

    Combined energy storage and three-axis attitude control of a gyroscopically actuated AUV


    Contributors:
    Thornton, B. (author) / Ura, T. (author) / Nose, Y. (author)

    Published in:

    Publication date :

    2008


    Size :

    9 Seiten, 9 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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