In this paper, the speed control system controlled by motor speed was designed to control forward speed of underwater robot precisely. Based on the theory of double closed-loop speed control, motor control system was modeled firstly, and then regulator parameters were designed based on the engineering approaches. According to the characteristics of forward movement, the mechanical construction of sub-mini underwater robots and the comparison of various system designs, the double closed-loop regulator parameters of sub-mini underwater robots were obtained. And the propulsion system of sub-mini underwater robots was equipped with speed and current double closed-loop control. All the experimental results showed that within a certain range of motor speed, no static error could be guaranteed and the variable speed of underwater vehicle could be achieved.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Application of Double Closed-Loop Control to the Steady-State Regulation and Control of Underwater Vehicle



    Published in:

    Advanced Materials Research ; 443-444 ; 548-552


    Publication date :

    2012-01-03


    Size :

    5 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Double-closed-loop electric locomotive speed regulation control method

    QIAN JUNLEI / ZENG KAI | European Patent Office | 2022

    Free access

    Closed-loop depth and attitude control of an underwater relerobotic vehicle

    Power, Wendy M. (Wendy Marie) | DSpace@MIT | 1990

    Free access

    Underwater glider closed-loop active flow control device based on steady blowing and sucking flow

    DU XIAOXU / SONG BAOWEI / PAN GUANG et al. | European Patent Office | 2020

    Free access

    Force feedback type closed-loop control underwater propeller

    LI GUANGHUA / WANG TAIKUN / LU BINGJU et al. | European Patent Office | 2021

    Free access

    Steady-State Closed-Loop Control of Bypass Boundary Layer Transition Using Plasma Actuators

    Hanson, R. / Lavoie, P. / Bade, K. et al. | British Library Conference Proceedings | 2012