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Design and Verification of Deep Submergence Rescue Vehicle Motion Control System
A six degree-of-freedom (DOF) motion control system for docking with a deep submergence rescue vehicle (DSRV) test platform was the focus of this study. The existing control methods can meet the general requirements of underwater operations, but the complex structures or multiple parameters of some...
Autores principales: | , , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10422408/ https://www.ncbi.nlm.nih.gov/pubmed/37571555 http://dx.doi.org/10.3390/s23156772 |
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author | Jiang, Chunmeng Zhang, Hongrui Wan, Lei Lv, Jinhua Wang, Jianguo Tang, Jian Wu, Gongxing He, Bin |
author_facet | Jiang, Chunmeng Zhang, Hongrui Wan, Lei Lv, Jinhua Wang, Jianguo Tang, Jian Wu, Gongxing He, Bin |
author_sort | Jiang, Chunmeng |
collection | PubMed |
description | A six degree-of-freedom (DOF) motion control system for docking with a deep submergence rescue vehicle (DSRV) test platform was the focus of this study. The existing control methods can meet the general requirements of underwater operations, but the complex structures or multiple parameters of some methods have prevented them from widespread use. The majority of the existing methods assume the heeling effect to be negligible and ignore it, achieving motion control in only four or five DOFs. In view of the demanding requirements regarding positions and inclinations in six DOFs during the docking process, the software and hardware architectures of the DSRV platform were constructed, and then sparse filtering technology was introduced for data smoothing. Based on the adaptive control strategy and with a consideration of residual static loads, an improved S-plane control method was developed. By converting the force (moment) calculated by the controller to the body coordinate system, the complexity of thrust allocation was effectively reduced, and the challenge of thrust allocation in the case of a high inclination during dynamic positioning was solved accordingly. The automatic control of the trimming angle and heeling angle was realized with the linkage system of the ballast tank and pump valve. A PID method based on an intelligent integral was proposed, which not only dealt with the integral “saturation” problem, but also reduced the steady-state error and overshooting. Water pool experiments and sea trials were carried out in the presence of water currents for six-DOF motion control. The responsiveness and precision of the control system were verified by the pool experiment and sea trial results and could meet the control requirements in engineering practice. The reliability and operational stability of the proposed control system were also verified in a long-distance cruise. |
format | Online Article Text |
id | pubmed-10422408 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-104224082023-08-13 Design and Verification of Deep Submergence Rescue Vehicle Motion Control System Jiang, Chunmeng Zhang, Hongrui Wan, Lei Lv, Jinhua Wang, Jianguo Tang, Jian Wu, Gongxing He, Bin Sensors (Basel) Article A six degree-of-freedom (DOF) motion control system for docking with a deep submergence rescue vehicle (DSRV) test platform was the focus of this study. The existing control methods can meet the general requirements of underwater operations, but the complex structures or multiple parameters of some methods have prevented them from widespread use. The majority of the existing methods assume the heeling effect to be negligible and ignore it, achieving motion control in only four or five DOFs. In view of the demanding requirements regarding positions and inclinations in six DOFs during the docking process, the software and hardware architectures of the DSRV platform were constructed, and then sparse filtering technology was introduced for data smoothing. Based on the adaptive control strategy and with a consideration of residual static loads, an improved S-plane control method was developed. By converting the force (moment) calculated by the controller to the body coordinate system, the complexity of thrust allocation was effectively reduced, and the challenge of thrust allocation in the case of a high inclination during dynamic positioning was solved accordingly. The automatic control of the trimming angle and heeling angle was realized with the linkage system of the ballast tank and pump valve. A PID method based on an intelligent integral was proposed, which not only dealt with the integral “saturation” problem, but also reduced the steady-state error and overshooting. Water pool experiments and sea trials were carried out in the presence of water currents for six-DOF motion control. The responsiveness and precision of the control system were verified by the pool experiment and sea trial results and could meet the control requirements in engineering practice. The reliability and operational stability of the proposed control system were also verified in a long-distance cruise. MDPI 2023-07-28 /pmc/articles/PMC10422408/ /pubmed/37571555 http://dx.doi.org/10.3390/s23156772 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Jiang, Chunmeng Zhang, Hongrui Wan, Lei Lv, Jinhua Wang, Jianguo Tang, Jian Wu, Gongxing He, Bin Design and Verification of Deep Submergence Rescue Vehicle Motion Control System |
title | Design and Verification of Deep Submergence Rescue Vehicle Motion Control System |
title_full | Design and Verification of Deep Submergence Rescue Vehicle Motion Control System |
title_fullStr | Design and Verification of Deep Submergence Rescue Vehicle Motion Control System |
title_full_unstemmed | Design and Verification of Deep Submergence Rescue Vehicle Motion Control System |
title_short | Design and Verification of Deep Submergence Rescue Vehicle Motion Control System |
title_sort | design and verification of deep submergence rescue vehicle motion control system |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10422408/ https://www.ncbi.nlm.nih.gov/pubmed/37571555 http://dx.doi.org/10.3390/s23156772 |
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