Modeling stabilization system of underwater charging station in conditions of sea oscillation

Sergey An Gayvoronskiy, Tatiana Ezangina, Ivan Khozhaev

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication2018 International Russian Automation Conference, RusAutoCon 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538649381
DOIs
Publication statusPublished - 19 Oct 2018
Event2018 International Russian Automation Conference, RusAutoCon 2018 - Sochi, Russian Federation
Duration: 9 Sep 201816 Sep 2018

Conference

Conference2018 International Russian Automation Conference, RusAutoCon 2018
CountryRussian Federation
CitySochi
Period9.9.1816.9.18

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

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  • Cite this

    Gayvoronskiy, S. A., Ezangina, T., & Khozhaev, I. (2018). Modeling stabilization system of underwater charging station in conditions of sea oscillation. In 2018 International Russian Automation Conference, RusAutoCon 2018 [8501719] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RUSAUTOCON.2018.8501719