کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1726412 1015112 2011 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Underwater glider modelling and analysis for net buoyancy, depth and pitch angle control
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
پیش نمایش صفحه اول مقاله
Underwater glider modelling and analysis for net buoyancy, depth and pitch angle control
چکیده انگلیسی

Underwater glider is an autonomous underwater vehicle that glides by controlling their buoyancy and attitude using internal actuators. By changing the vehicle's buoyancy intermittently, vertical motion can be achieved. Characteristics of glider motion include upward and downward movement in a saw tooth pattern, turning and gliding in a vertical spiral motion and gliding without using thrusters or propellers. This paper presents the modelling and identification on net buoyancy, depth and pitching angle of an underwater glider system. A ballast tank subsystem is considered appropriate for the identification process since it is the main parameter for the motion control. By selecting the ballast rate as the input, three aspects of the dynamics of a glider can be observed: buoyancy, depth of the glider and pitching angle. The MATLAB System Identification ToolboxTM is used to obtain a mathematical model of the glider ballast–buoyancy, ballast–depth and ballast–pitching angle conditioning system. The best three parametric estimation models are chosen, and the results of the comparison between simulated and estimated outputs are presented. The information obtained from the modelling and identification approaches are used for USM's Underwater Glider Prototype controller design. The information observed during this procedure are utilised for optimisation, stability, reliability and robustness analysis of the underwater glider.


► We conduct modelling and identification procedure on net buoyancy, depth and pitching angle of an underwater glider system.
► MATLAB System Identification Toolbox™ is used to obtain a mathematical model.
► Three parametric estimation models are chosen and results of comparison among simulated and estimated outputs are presented.
► Performance and analysis observed from identification of glider system leads to further investigation to be carried out.
► The outcomes contribute to proper vehicle controller design.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 38, Issue 16, November 2011, Pages 1782–1791
نویسندگان
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