Design and control of a low-cost autonomous profiling float

IF 1.2 4区工程技术 Q3 ENGINEERING, MECHANICAL

Mechanics & Industry Pub Date : 2020-01-01 DOI:10.1051/meca/2020037

Thomas Le Mézo, Gilles Le Maillot, Thierry Ropert, L. Jaulin, A. Ponte, B. Zerr

引用次数: 5

Abstract

This paper presents the development made around the SeaBot, a new low-cost profiling float design for shallow water. We introduce a simplified dynamical model of the float and propose a state feedback depth controller coupled with an Extended Kalman Filter (EKF) to estimate model parameters. We show experimental results of the depth control that validate the model and the controller. We finally propose a loop design method to build low-cost floats by highlighting key design choices along with design rules.

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低成本自主剖面浮子的设计与控制

本文介绍了一种新型的低成本浅水剖面浮子SeaBot的发展情况。我们引入了一个简化的浮子动力学模型，并提出了一个状态反馈深度控制器，结合扩展卡尔曼滤波器(EKF)来估计模型参数。最后给出了深度控制的实验结果，验证了模型和控制器的有效性。最后，我们提出了一种循环设计方法，通过突出关键的设计选择和设计规则来构建低成本的浮动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechanics & Industry ENGINEERING, MECHANICAL-MECHANICS

CiteScore

2.80

自引率

0.00%

发文量

审稿时长

>12 weeks

期刊介绍： An International Journal on Mechanical Sciences and Engineering Applications With papers from industry, Research and Development departments and academic institutions, this journal acts as an interface between research and industry, coordinating and disseminating scientific and technical mechanical research in relation to industrial activities. Targeted readers are technicians, engineers, executives, researchers, and teachers who are working in industrial companies as managers or in Research and Development departments, technical centres, laboratories, universities, technical and engineering schools. The journal is an AFM (Association Française de Mécanique) publication.