Abstract
The batteries of autonomous underwater vehicles can be charged with the help of a submersible charging station without bringing a vehicle on the board of a carrier vessel. The paper is dedicated to a problem of stabilizing such charging station on a desired depth with the help of a shock-absorbing hoist, mounted on a charging station, despite sea oscillation. The mathematical models of two stabilization systems were developed, depending on the required measurement information: signal of a charging station vertical velocity and signal of a tension deviation of a shock-absorbing hoist. Both mathematical models consider the distribution and interval uncertainty of parameters of a mechanical system, which includes a tether and a charging station. Robust controllers were synthesized for both types of stabilization systems; simulation modeling of synthesized systems was performed. A comparative analysis of provided types of stabilization systems was performed on a base of simulation modeling results.
| Original language | English |
|---|---|
| Title of host publication | 2018 International Russian Automation Conference, RusAutoCon 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9781538649381 |
| DOIs | |
| Publication status | Published - 19 Oct 2018 |
| Event | 2018 International Russian Automation Conference, RusAutoCon 2018 - Sochi, Russian Federation Duration: 9 Sep 2018 → 16 Sep 2018 |
Conference
| Conference | 2018 International Russian Automation Conference, RusAutoCon 2018 |
|---|---|
| Country | Russian Federation |
| City | Sochi |
| Period | 9.9.18 → 16.9.18 |
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Keywords
- Adaptive control
- Aperiodic transient process
- Control system synthesis
- Parametric uncertainty
- Robust control
- Simulation modeling
ASJC Scopus subject areas
- Control and Systems Engineering
- Mechanical Engineering
- Control and Optimization
Cite this
Modeling stabilization system of underwater charging station in conditions of sea oscillation. / Gayvoronskiy, Sergey An; Ezangina, Tatiana; Khozhaev, Ivan.
2018 International Russian Automation Conference, RusAutoCon 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 8501719.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Modeling stabilization system of underwater charging station in conditions of sea oscillation
AU - Gayvoronskiy, Sergey An
AU - Ezangina, Tatiana
AU - Khozhaev, Ivan
PY - 2018/10/19
Y1 - 2018/10/19
N2 - The batteries of autonomous underwater vehicles can be charged with the help of a submersible charging station without bringing a vehicle on the board of a carrier vessel. The paper is dedicated to a problem of stabilizing such charging station on a desired depth with the help of a shock-absorbing hoist, mounted on a charging station, despite sea oscillation. The mathematical models of two stabilization systems were developed, depending on the required measurement information: signal of a charging station vertical velocity and signal of a tension deviation of a shock-absorbing hoist. Both mathematical models consider the distribution and interval uncertainty of parameters of a mechanical system, which includes a tether and a charging station. Robust controllers were synthesized for both types of stabilization systems; simulation modeling of synthesized systems was performed. A comparative analysis of provided types of stabilization systems was performed on a base of simulation modeling results.
AB - The batteries of autonomous underwater vehicles can be charged with the help of a submersible charging station without bringing a vehicle on the board of a carrier vessel. The paper is dedicated to a problem of stabilizing such charging station on a desired depth with the help of a shock-absorbing hoist, mounted on a charging station, despite sea oscillation. The mathematical models of two stabilization systems were developed, depending on the required measurement information: signal of a charging station vertical velocity and signal of a tension deviation of a shock-absorbing hoist. Both mathematical models consider the distribution and interval uncertainty of parameters of a mechanical system, which includes a tether and a charging station. Robust controllers were synthesized for both types of stabilization systems; simulation modeling of synthesized systems was performed. A comparative analysis of provided types of stabilization systems was performed on a base of simulation modeling results.
KW - Adaptive control
KW - Aperiodic transient process
KW - Control system synthesis
KW - Parametric uncertainty
KW - Robust control
KW - Simulation modeling
UR - http://www.scopus.com/inward/record.url?scp=85057067220&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85057067220&partnerID=8YFLogxK
U2 - 10.1109/RUSAUTOCON.2018.8501719
DO - 10.1109/RUSAUTOCON.2018.8501719
M3 - Conference contribution
AN - SCOPUS:85057067220
BT - 2018 International Russian Automation Conference, RusAutoCon 2018
PB - Institute of Electrical and Electronics Engineers Inc.
ER -