Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles

Abstract This article proposed coordinated tuning and real-time implementation of power system stabilizer (PSS) with static var compensator (SVC) in multi-machine power system. The design of proposed coordinated damping controller is formulated as an optimization problem, and the controller gains are optimized instantaneously using advanced adaptive particle swarm optimization. Here, PSS with SVC installed in multi-machine system is examined. The coordinated tuning among the damping controllers is performed on the non-linear power system dynamic model. Finally, the proposed coordinated controller performance is discussed with time-domain simulations. Different loading conditions are employed on the test system to test the robustness of proposed coordinate controller, and the simulation results are compared with four different control schemes. To validate the proposed controller, the test power system is also implemented on real-time (OPAL-RT) simulator, and acceptable results are reported for its verifications.

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Study on System Design and Integration of Variable Buoyancy Systems for Underwater Operation

Defence Science Journal ◽

10.14429/dsj.71.15557 ◽

2021 ◽

Vol 71 (1) ◽

pp. 124-133

Author(s):

B. K. Tiwari ◽

R. Sharma

Keyword(s):

Numerical Simulation ◽

Energy Consumption ◽

System Design ◽

Underwater Vehicles ◽

Medium Size ◽

Depth Control ◽

Water Hydraulic ◽

Simulation Results

This paper presents the design and analysis of the ‘Variable Buoyancy System (VBS)’ for depth control which is an essential operation for all underwater vehicles. We use the ‘Water Hydraulic Variable Buoyancy System (WHVBS)’ method to control the buoyancy and discuss details of the system design architecture of various components of VBS. The buoyancy capacity of the developed VBS is five kilograms and the performance of the VBS in standalone mode is analysed using numerical simulation. Presented VBS is operable to control the buoyancy up to sixty meters of depth and it can be directly installed to medium size UVs. Simulation results show that the developed VBS can reduce the energy consumption significantly and higher in each cycle (i.e. descending and ascending) of the same VBS in standalone mode being operated with either propeller or thruster for sixty meters depth of operation. Our results conclude and demonstrate that the designed VBS is effective in changing the buoyancy and controlling the heave velocity efficiently and this serves the purpose of higher endurance and better performances desired in rescue/attack operations related to the UVs both in civilian and defense domains.

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Depth control of an underwater vehicle using robust PD controller: real-time experiments

2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV) ◽

10.1109/auv.2018.8729783 ◽

2018 ◽

Author(s):

Angel E. Zamora Suarez ◽

Adrian Manzanilla Magallanes ◽

Miguel Angel Garcia Rangel ◽

Rogelio Lozano Leal ◽

Sergio Salazar Cruz ◽

...

Keyword(s):

Real Time ◽

Underwater Vehicle ◽

Pd Controller ◽

Depth Control

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Adaptive Depth Control for Autonomous Underwater Vehicles Based on Feedforward Neural Networks

Intelligent Control and Automation - Lecture Notes in Control and Information Sciences ◽

10.1007/978-3-540-37256-1_29 ◽

2006 ◽

pp. 207-218 ◽

Cited By ~ 2

Author(s):

Yang Shi ◽

Weiqi Qian ◽

Weisheng Yan ◽

Jun Li

Keyword(s):

Neural Networks ◽

Autonomous Underwater Vehicles ◽

Feedforward Neural Networks ◽

Underwater Vehicles ◽

Depth Control

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The model-free adaptive cross-coupled control for two-dimensional linear motor

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331219881830 ◽

2019 ◽

Vol 42 (5) ◽

pp. 1059-1069

Author(s):

Baolin Zhang ◽

Rongmin Cao ◽

Zhongsheng Hou

Keyword(s):

Adaptive Control ◽

Real Time ◽

Error Estimation ◽

Tracking Error ◽

Estimation Method ◽

Linear Motor ◽

Experimental Comparison ◽

Contour Error ◽

Two Dimensional ◽

Model Free

In order to improve the contour error accuracy of two-dimensional linear motor, an improved cross-coupled control (CCC) scheme combining real-time contour error estimation and model-free adaptive control (MFAC) is proposed. The real-time contour error estimation method is based on CCC theory and coordinate transformation idea. It can accurately determine the contour error point of regular contour and avoid the influence of tracking error on the contour error. At the same time, for the design of two-axis error controller, only the input and output data generated by two-dimensional linear motor in reciprocating motion are used to design a multiple input multiple output-model-free adaptive control (MIMO-MFAC) algorithm, this algorithm avoids the dependence on accurate mathematical model and reduces the control difficulty. The experimental comparison showed that the proposed method improves the system tracking accuracy and contour accuracy, and verifies the proposed method correctness and effectiveness.

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T-S Fuzzy Model-Based Depth Control of Underwater Vehicles

Journal of Shanghai Jiaotong University (Science) ◽

10.1007/s12204-020-2165-4 ◽

2020 ◽

Vol 25 (3) ◽

pp. 315-324

Author(s):

Yuan Qian ◽

Zhengping Feng ◽

Anyuan Bi ◽

Weiqi Liu

Keyword(s):

Fuzzy Model ◽

Underwater Vehicles ◽

Model Based ◽

Depth Control

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