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

Fingerprint

Hoists
Stabilization
Oscillation
Simulation Modeling
Modeling
Absorbing
Mathematical models
Shock
Autonomous underwater vehicles
Computer simulation
Mathematical Model
Underwater Vehicle
Comparative Analysis
Mechanical Systems
Battery
Vessel
Controllers
Deviation
Vertical
Controller

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

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

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 proceedingConference 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
Gayvoronskiy SA, Ezangina T, Khozhaev I. Modeling stabilization system of underwater charging station in conditions of sea oscillation. In 2018 International Russian Automation Conference, RusAutoCon 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 8501719 https://doi.org/10.1109/RUSAUTOCON.2018.8501719
Gayvoronskiy, Sergey An ; Ezangina, Tatiana ; Khozhaev, Ivan. / Modeling stabilization system of underwater charging station in conditions of sea oscillation. 2018 International Russian Automation Conference, RusAutoCon 2018. Institute of Electrical and Electronics Engineers Inc., 2018.
@inproceedings{5976928df5054cb8bc6467becc171725,
title = "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.",
keywords = "Adaptive control, Aperiodic transient process, Control system synthesis, Parametric uncertainty, Robust control, Simulation modeling",
author = "Gayvoronskiy, {Sergey An} and Tatiana Ezangina and Ivan Khozhaev",
year = "2018",
month = "10",
day = "19",
doi = "10.1109/RUSAUTOCON.2018.8501719",
language = "English",
booktitle = "2018 International Russian Automation Conference, RusAutoCon 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
address = "United States",

}

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 -