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2004 | 14 | 4 | 461-467
Tytuł artykułu

Optimization of thrust allocation in the propulsion system of an underwater vehicle

Autorzy
Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
The paper addresses methods of thrust distribution in a propulsion system for an unmanned underwater vehicle. It concentrates on finding an optimal thrust allocation for desired values of forces and moments acting on the vehicle. Special attention is paid to the unconstrained thrust allocation. The proposed methods are developed using a configuration matrix describing the layout of thrusters in the propulsion system. The paper includes algorithms of thrust distribution for both faultless work of the propulsion system and a failure of one of the thrusters. Illustrative examples are provided to demonstrate the effectiveness and correctness of the proposed methods.
Rocznik
Tom
14
Numer
4
Strony
461-467
Opis fizyczny
Daty
wydano
2004
otrzymano
2004-06-01
poprawiono
2004-09-01
Twórcy
autor
  • Faculty of Mechanical and Electrical Engineering, Naval University, ul. Śmidowicza 69, 81-103 Gdynia, Poland
Bibliografia
  • Ahmed N. and Rao K.R. (1975): Orthogonal Transforms for Digital Signal Processing. - Berlin: Springer-Verlag.
  • Berge S. and Fossen T.I. (1997): Robust control allocation of overactuated ships: Experiments with a model ship. - Proc. 4-th IFAC Conf. Manoeuvring and Control of Marine Craft, Brijuni, Croatia, pp. 161-171.
  • Canudas de Wit C., Olguin D. and Perrer M. (1998): Robust nonlinear control of an underwater vehicle. - Proc. IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, pp. 452-457.
  • Charchalis A. (2001): Resistance of naval vessels and ship propellers. - Gdynia: Naval University Press, (in Polish).
  • Craven P.J., Sutton R. and Burns R.S. (1998): Control Strategies for Unmanned Underwater Vehicles. - J. Navig., Vol. 51, No. 2, pp. 79-105.
  • Fossen T.I. (1994): Guidance and Control of Ocean Vehicles. - Chichester: Wiley.
  • Fossen T.I. (2002): Marine Control Systems. - Trondheim: Marine Cybernetics AS.
  • Garus J. and Kitowski Z. (1999): Sliding control of motion of underwater vehicle. In: Marine Technology III (T. Graczyk, T. Jastrzebski and C.A. Brebia, Eds.). - Southampton: WIT Press, pp. 603-611.
  • Garus J. (2003): Fault tolerant control of remotely operated vehicle.-Proc. 9-th IEEE Conf. Methods and Models in Automation and Robotics, Międzyzdroje, Poland, pp. I.217-I.221.
  • Garus J. (2004): A method of power distribution in power transmission system of remotely operated vehicle. - J. Th. Appl. Mech., Poland, Vol. 42, No. 2, pp. 239-251.
  • Healey A.J., Rock S.M., Cody S., Miles D. and Brown J.P. (1995): Toward an improved understanding of thruster dynamics for underwater vehicles. - IEEE Int. J. Ocean. Eng., Vol. 20, No. 3, pp. 354-361.
  • Katebi M.R. and Grimble M.J. (1999): Integrated control, guidance and diagnosis for reconfigurable underwater vehicle control. - Int. J. Syst. Sci., Vol. 30, No. 9, pp. 1021-1032.
  • Kiełbasinski A. and Schwetlich K. (1992): Numerical Linear Algebra.- Warsaw: WNT, (in Polish).
  • Kulesza W. (1984): Systems of Spectral Analysis of Digital Data. - Warsaw: WKiŁ.
  • Sordelen O.J. (1997): Optimum thrust allocation for marine vessels. - Contr. Eng. Pract., Vol. 5, No. 9, pp. 1223-1231.
  • Whitcomb L.L. and Yoerger D. (1999): Preliminary experiments in model-based thruster control for underwater vehicle position control. - IEEE J. Ocean. Eng., Vol. 24, No. 4, pp. 481-494.
Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv14i4p461bwm
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