Method of Synthesis of Automatic Correction Systems of Underwater Vehicles Linear Displacements

In this work the synthesis method of combined closed-loop automatic system of underwater vehicle position and orientation stabilization in hang mode (station keeping regime) is described. Underwater vehicle invariance to external influences created by working underwater manipulator is provided by thrusts of vehicle screws. These thrusts are proportional to said external influences calculated in real time scale. For precise calculation of these influences the recursive algorithm for solving of inverse problem of underwater manipulator dynamic was developed. Presented algorithm allows to take into account all features of viscous environment influences on manipulator links committing random movements at high speed. To increase accuracy of underwater vehicle stabilization additional automatic closed-loop systems for all linear and angular movement of this vehicle was synthesized. Said systems can use data obtained from high-precision navigation onboard sensors and devices.

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“…The parameters of this model are in detail described in work [8].Used UV thrusters are described in work [9].…”

Section: Research Of Synthesized Combined Stabilizationmentioning

confidence: 99%

System of automatic stabilization of underwater vehicle in hang mode with working multilink manipulator

Filaretov

Konoplin

2015

2015 International Conference on Computer, Control, Informatics and Its Applications (IC3INA)

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“…When the MM grips a massive object, the UUV acquires undesirable list and trim angles under the effect of its weight. A lot of studies have addressed the issue of controlling movements of UUV exposed to external disturbances ( [11,28], etc.). In particular, a method has been proposed in the work [28], which allows adjustment of thrusters' propulsions depending on the information about the difference between the programmed and current UUV movement vectors that come from a gyroscope and a Doppler velocity log.…”

Section: Introductionmentioning

confidence: 99%

Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects

et al. 2022

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This article considers an approach to synthesizing a multilevel system to control movements of a multilink manipulator (MM) mounted on an unmanned underwater vehicle (UUV) for performing autonomous manipulative operations in the mode of dynamic positioning over various objects on the seafloor. The system is based on an upgraded method that, using point clouds received from the machine vision systems (MVS), provides high-accuracy determination of the shape and location of the work object relative to UUV. The preset trajectories of the MM working tool are overlaid on the identified surface of the object, with possible silting, fouling or deformation of the latter taken into account. To execute the programmed trajectories with the MM working tool, the following methods have been implemented in software: stabilization of UUV in hovering mode near the object, high-precision control of working tool’s movements, and also corrections of its trajectory taking into account UUV’s displacements relative to the object. The synthesized system has been developed in the C++ programming language. The operation of the system has been numerically simulated using a model of UUV with MM, as well as models of the environment and the target object, in the Matlab/Simulink and V-REP software packages. The results of the study show a high efficiency of the system both in processing sensor information and in providing the dynamic control of movements of an UUV with a MM.

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“…For the taking into account negative angular displacements of the UV under the influence of the grasped objects and probes the methods [3,4] are developed. The technologies for high-precision automatic stabilization of the UV in the hang mode [5][6][7][8] are already created.…”

Section: Introductionmentioning

confidence: 99%

Technology for Automatic Soil Sampling by Manipulators Mounted on Underwater Vehicles

Filaretov¹,

Konoplin²,

Konoplin³

et al. 2017

DAAAM Proceedings

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The work proposes the technology for an automatic implementation of the soil sampling by means of underwater multilink manipulators which are attached to submergible autonomous and remotely controlled vehicles. This technology includes the strategy of the safe approaching of a vehicle to a sea bottom surface, and also the formation of manipulator trajectories for the efficient soil sampling by hermetically sealed tubes and soil scoops. The results of sea tests are presented for the study of the working capacity of the proposed technology.

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Method of Synthesis of Automatic Correction Systems of Underwater Vehicles Linear Displacements

Cited by 6 publications

References 2 publications

System of automatic stabilization of underwater vehicle in hang mode with working multilink manipulator

System of automatic stabilization of underwater vehicle in hang mode with working multilink manipulator

Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects

Technology for Automatic Soil Sampling by Manipulators Mounted on Underwater Vehicles

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