用于搜索和救援行动的水下遥控航行器(ROV)的控制体系结构设计

IF 0.9 4区计算机科学 Q4 COMPUTER SCIENCE, CYBERNETICS

Kybernetika Pub Date : 2022-07-29 DOI:10.14736/kyb-2022-2-0237

Ralph Gerard B. Sangalang, Diether Jhay S. Masangcay, Cleo Martin R. Torino, Diane Jelyn C. Gutierrez

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引用次数: 3

摘要

介绍了一种水下ROV(主要是I类纯观测型水下ROV)的控制系统体系结构设计。利用SolidWorks三维建模工具设计了一个非线性植物模型，并将其作为三维模型导入到MATLAB中。利用MATLAB线性分析工具箱对非线性建模对象进行线性化，得到系统的线性近似模型。针对水下ROV的线性植物模型设计了控制器。采用PID控制器作为模型对象的控制器。利用MATLAB开发的PID整定工具对水下ROV机器人模型控制器进行整定。研究人员利用MATLAB Simulink对水下ROV的控制设计进行测试，通过分析系统的响应并对控制设计进行故障排除，从而获得水下ROV控制设计的目标参数。

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Design of a control architecture for an underwater remotely operated vehicle (ROV) used for search and rescue operations

A control system architecture design for an underwater ROV, primarily Class I - Pure Observation underwater ROV is presented in this paper. A non-linear plant model was designed using SolidWorks 3D modeling tool and is imported to MATLAB as a 3D model. The non-linear modeled plant is linearized using the MATLAB linear analysis toolbox to have a linear approximate model of the system. The authors designed controllers for the linear plant model of underwater ROV. PID controllers are utilized as a controller of the modeled plant. The PID tuning tools by MATLAB are utilized to tune the controller of the plant model of underwater ROV. The researchers test the control design of underwater ROV using MATLAB Simulink by analyzing the response of the system and troubleshoot the control design to achieve the objective parameters for the control design of underwater ROV.

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来源期刊

Kybernetika 工程技术-计算机：控制论

CiteScore

1.30

自引率

20.00%

发文量

审稿时长

6 months

期刊介绍： Kybernetika is the bi-monthly international journal dedicated for rapid publication of high-quality, peer-reviewed research articles in fields covered by its title. The journal is published by Nakladatelství Academia, Centre of Administration and Operations of the Czech Academy of Sciences for the Institute of Information Theory and Automation of The Czech Academy of Sciences. Kybernetika traditionally publishes research results in the fields of Control Sciences, Information Sciences, Statistical Decision Making, Applied Probability Theory, Random Processes, Operations Research, Fuzziness and Uncertainty Theories, as well as in the topics closely related to the above fields.