TRANSACTIONS OF THE KRYLOV STATE RESEARCH CENTRE

Science journal

 
ISSN (print) 2542-2324 /(online) 2618-8244


Articles of The Transactions of KSRC








Approaches to angular position control system for underwater vehicle without tilt angle constraints



Full text article ( in russian)

Year

 
2018

Issue

 
20181

Volume

 
1

Pages

 
224-234

Caption

 
Approaches to angular position control system for underwater vehicle without tilt angle constraints

Authors

 
Laymina Е.

Keywords

 
attitude control system, attitude control, Euler – Krylov angles, quaternions, directional cosines, ROV, UUV, AUV.

DOI

 
10.24937/2542-2324-2018-1-S-I-224-234

Summary

 
The subject of this study is an attitude control system of unmanned underwater vehicle (UUV). The purpose of this study is to compare approaches to UUV control based on Euler-Krylov angles, attitude quaternions and directional cosines to minimize cross-talk of control channels. Traditional approaches to UUV attitude control are considered, as well as the methods based on attitude quaternions and directional cosines. The transfer matrix of the UUV control system for the traditional and quaternionbased approaches is obtained. It is shown that under dynamic asymmetry of the vehicles the control system connectivity is increased with the tilt angles. All methods were applied to a non-linear mathematical model of AKVA-MO UUV using Matlab/Simulink software. All methods were analyzed and compared by the types of transient processes. The obtained results suggest that the above-considered UUV control approaches show growing cross-talk between control channels with increasing tilt angles at dynamic asymmetry of UUV. However, the attitude quaternion control is found to be the best approach in terms of higher speed performance and least cross-talk effects.

Back to the list



 





 
Login:
Password:
Register
Forgot your password?


Last issues

All rights reserved © Krylov state research centre, 2017 — 2022


ISSN (print) 2542-2324 / ISSN (online) 2618-8244

Address: Moskovskoye shosse, 44, Saint-Petersburg, 196158

Phone: +7(812) 415-49-80