다수의 추진기를 지닌 ROV의 추력배분을 통한 정지 상태에서의선수각 및 수심 제어 구현
Implementation of Heading Angle and Depth Keeping Control of ROV with Multiple Thrusters by Thrust Allocation
2
조회
0
다운로드
5
인용
0
참고문헌
키워드
초록
This study deals with the heading angle and depth keeping control technique for an ROV with multiple horizontal and vertical thrusters by thrust allocation. The light work class ROV URI-L, which is under development at KRISO, is a redundant actuating system with multiple thrusters that are larger than the ROV's degree of freedom. In the redundant actuating system, there are several solutions for a specific ROV motion to be performed. Therefore, a thrust allocation algorithm that considers the entire propulsion system should be regarded as important. First, this paper describes the propulsion system of the ROV and introduces the thrust allocation method of each motion controller. In addition, the performance of the controller is examined using a heading angle and depth keeping control test in a stationary state.
Abstract
This study deals with the heading angle and depth keeping control technique for an ROV with multiple horizontal and vertical thrusters by thrust allocation. The light work class ROV URI-L, which is under development at KRISO, is a redundant actuating system with multiple thrusters that are larger than the ROV's degree of freedom. In the redundant actuating system, there are several solutions for a specific ROV motion to be performed. Therefore, a thrust allocation algorithm that considers the entire propulsion system should be regarded as important. First, this paper describes the propulsion system of the ROV and introduces the thrust allocation method of each motion controller. In addition, the performance of the controller is examined using a heading angle and depth keeping control test in a stationary state.
참고문헌 (14)
- Berge, S., "Robust Control Allocation of Overactuated Ship: Experiments with a Model Ship", IFAC Proceedings Volumes, 30(22), pp.193~198 (1997)
- Craven, P.J., "Control Strategies for Unmanned Underwater Vehicles", The Journal of Navigation, 51(1), pp.79~105 (1998)[DOI]
- Fossen, T.I., "A Survey of Control Allocation Methods for Ships and Underwater Vehicles", 14th Mediterranean Conference on Control and Automation (2006)
- Garus, J., "Optimization of Thrust Allocation in the Propulsion System of an Underwater Vehicle", International Journal of Applied Mathematics and Computer Science, 14(4), pp.461~467 (2004)
- Harkegard, O., "Resolving Actuator Redundancy-optimal Control vs. Control Allocation", Automatica, 41(1), pp.137~144 (2005)
- Henrik, J., "Optimal Thruster Actuation in High Precision Attitude and Orbit Control Systems", pp.2005
- 지상원, "선박운동제어를 위한 제어력분배 및 제어기설계에 관한 연구", 한국해양공학회지, 26(3), pp.20~25 (2012), 한국해양공학회[DOI]
- Johansen, T.A., "Control Allocation - A Survey", Automatica, 49(5), pp.1087~1103 (2013)[DOI]
- Lee, C.M., "A Fundamental Test of The Underwater Construction Light Work Class ROV", Proceedings of Fall Conference of the Korean Society of Ocean Engineers 2017, pp.231~235 (2017)
- Oppenheimer, M.W., "A Method for Including Control Effector Interaction in The Control Allocation Problems", AIAA Guidance, Navigation and Control Conference and Exhibit (2007)
- Pedrami, R., "A Control Allocation Approach for Energetic Swarm Control", American Control Conference, pp.5079~5084 (2009)
- Shen, Q., "Robust Control Allocation for Spacecraft Attitude Tracking Under Actuator Faults", IEEE Transactions on Control Systems Technology, 25(3), pp.1068~1075 (2017)[DOI]
- Whitcomb, L.L., "Preliminary Experiments in Model-based Thruster Control for Underwater Vehicle Positioning", IEEE Journal of Oceanic Engineering, 24(4), pp.495~506 (1999)[DOI]
- Yoon, S.M., "Motion Control of a Light-work-class ROV for Underwater Working: Heading and Depth Control", Proceedings of Fall Conference of the Korean Society of Ocean Engineers 2017, pp.244~247 (2017)