Zero-G Class Underwater Robots and Unrestricted Attitude Control using Control Moment Gyros

Thornton, Blair; Ura, Tamaki; Nose, Yukio; Turnock, S.R.

doi:10.1109/oceansap.2006.4393842

Cited by 20 publications

(27 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The internal systems demand use of internal space and include variable buoyancy systems [8] and methods that extend the current (survey) approach by maintaining a vehicle pitch angle using non-speed dependent methods such as control moment gyros [9] or moving mass systems [10].…”

Section: Alternative Approaches To Controlling Positive Buoyancymentioning

confidence: 99%

A Theoretical Approach to Facilitating Transition Phase Motion in a Positively Buoyant Autonomous Underwater Vehicle

Palmer¹,

Hearne²,

Stevenson³

2009

IJME

View full text Add to dashboard Cite

SUMMARYPositively buoyant autonomous underwater vehicles (AUVs) operate at survey speeds with a pitch angle that is maintained through application of the control surfaces, sufficient to generate hydrodynamic forces to counteract the excess buoyancy. To facilitate lower forward speeds and the ability to hover requires some additional method of control. This paper reviews possible options and then indicates how control can be achieved using a single or pair of through-body tunnel thrusters. New equations appropriate to AUVs are proposed and experimental results are used to estimate the equation parameters. These equations are used within a simulation of the Autosub AUV to determine the response of the AUV during the transition between survey and low speed operation. The results obtained from the simulations are analysed in terms of the performance of the AUV and the demanded energy levels to assess the feasibility of using tunnel thrusters as a low speed control device. NOMENCLATURE

show abstract

Section: Alternative Approaches To Controlling Positive Buoyancymentioning

confidence: 99%

A Theoretical Approach to Facilitating Transition Phase Motion in a Positively Buoyant Autonomous Underwater Vehicle

Palmer¹,

Hearne²,

Stevenson³

2009

IJME

View full text Add to dashboard Cite

show abstract

“…The final term accounts for any externally applied forces and moments, which for a body with zero righting moment is due to other actuators and viscous hydrodynamic interactions, giving where m and Jtot are the total mass and inertia of the rigid body and CMG system. MA and JA are the hydrodynamic added mass and inertia of the body, which is assumed to have three planes of symmetry along its principal axes and coincident centres of gravity and buoyancy [2]. The CMGs themselves make no contribution to the fluid energy since they…”

Section: A Cmg Modelmentioning

confidence: 99%

“…IKURA is a small low cost robot of length 50cm and mass 17.0 kg that contains a cluster of four CMG units arranged in a pyramid configuration that is capable of independent roll, pitch and yaw actuation. The CMG system provides unrestricted attitude control capabilities and this unique freedom in control was demonstrated in experiments that involved vertically pitched diving and surfacing in surge [2]. However, by spinning flywheels, both momentum and energy are stored.…”

Section: Introductionmentioning

confidence: 99%

Wind-up AUVs: Combined energy storage and attitude control using control moment gyros

2007

Self Cite

View full text Add to dashboard Cite

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 batteries at all. In previous works, the authors developed an attitude control scheme based on the gyroscopic torques developed by a cluster of four CMGs, which was implemented onboard the test-bed AUV 'IKURA', and successfully demonstrated full three-dimensional attitude control capabilities. This paper extends the control scheme to overcome interactions between the kinetic energy and angular momentum stored in the CMG flywheels, to allow the energy mechanically stored in the rotation of the flywheels to power the electronics of the robot, while simultaneously controlling its three-dimensional attitude. The control scheme is implemented on a four unit CMG pyramid developed for IKURA and series of land experiments are performed to demonstrate simultaneous energy transfer and attitude control.

show abstract

“…It is well known that CMG [12,13] is a torque amplification device because a small gimbal torque input produces a large torque output [14]. To satisfy the CMG requirement of high precision, magnetic bearings which control five degrees of freedom are required.…”

Section: Introductionmentioning

confidence: 99%

Passive axial magnetic bearing with Halbach magnetized array in magnetically suspended control moment gyro application

Sun

Ren

Fang

2011

Journal of Magnetism and Magnetic Materials

View full text Add to dashboard Cite

Zero-G Class Underwater Robots and Unrestricted Attitude Control using Control Moment Gyros

Cited by 20 publications

References 13 publications

A Theoretical Approach to Facilitating Transition Phase Motion in a Positively Buoyant Autonomous Underwater Vehicle

A Theoretical Approach to Facilitating Transition Phase Motion in a Positively Buoyant Autonomous Underwater Vehicle

Wind-up AUVs: Combined energy storage and attitude control using control moment gyros

Passive axial magnetic bearing with Halbach magnetized array in magnetically suspended control moment gyro application

Contact Info

Product

Resources

About