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

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	https://doi.org/10.1109/RUSAUTOCON.2018.8501719
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

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

Access to Document

10.1109/RUSAUTOCON.2018.8501719

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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

Gayvoronskiy, SA, 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., 2018 International Russian Automation Conference, RusAutoCon 2018, Sochi, Russian Federation, 9.9.18. https://doi.org/10.1109/RUSAUTOCON.2018.8501719

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