کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Designing and simulation of an automatic control system for an underwater vehicle

نویسندگان :

Mohammad Reza Keshtkar¹ Iman Fakharian² Saeed Kavari³ Javad Zare Ehteshami⁴

1- دانشگاه تربیت مدرس 2- دانشگاه صنعتی خواجه نصیرالدین طوسی 3- دانشگاه صنعتی شیراز 4- دانشگاه صنعتی مالک اشتر

کلمات کلیدی :

Simulation of motion, Submarine, six DOF Equation, PID Controller, Lead-Lag Controller

چکیده :

The purpose of this paper is to linearize given non-linear differential equations and design a complete automatic control system for the vertical and horizontal motions of an underwater vehicle like submarine using a steady state decoupling scheme. The method of solution is linearizing the DSL non-linear equations of motion by assumption of constant axial velocity and negligible non-linear terms. So, the degree of freedom is reduced from 6 to 5. Static and hydrodynamics stability derivatives are calculated by using reference method analytically and are compared with reference results. In order to validate linearized model with specified initial conditions, results using MATLAB Simulink software are obtained and compared with non-linear model of reference. After obtaining valid linear models, results of designed PID automatic controller in depth and course are compared with results of Lead-Lag controller of reference. It is concluded that fluctuations and undershoots are not captured in PID in horizontal motion. Also, steady state error in PID controller is less than Lead-Lag controller in vertical motion.