Technology of cybernetic models’ creating for the synthesis and refinement of autonomous underwater vehicle motion control system controllers

Vladimir V. Goryunov
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Deputy Head of Laboratory, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-15-08, This email address is being protected from spambots. You need JavaScript enabled to view it.

Sergey A. Polovko
PhD in Technical Sciences, RTC, Research Center, Research Advisor of Center, Leading Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-47-64, This email address is being protected from spambots. You need JavaScript enabled to view it.

Nikolay A. Tschur
PhD in Physics and Mathematics, RTC, Mathematician, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-15-08, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 30 October 2020

Abstract
The technology of cybernetic models’ creating for the synthesis and refinement of algorithms for controlling the autonomous underwater vehicle’s (AUV’s) motion is considered. The paper gives a description of the following sequence of actions performed at each stage of the cybernetic model development: dynamic model type and parameters identification, controller type selection, construction and analysis of the considered control loop block diagram, determination of the controller’s optimal parameters. The synthesis of heading, pitch and depth stabilization regulators for streamlined shape AUV during propulsion engines controlling is performed. The results of numerical modeling and research of the various factors influence on the quality of control are presented.

Key words
Cybernetic model, identification, heading controller, pitch controller, depth controller, motion control, autonomous underwater vehicle, AUV.

Acknowledgements
The results were obtained within the framework of the state assignment of the Ministry of Science and Higher Education of Russian Federation no. 075-01195-20-01 «Investigation of ways to create a multifunctional modular reconfigurable hyper-redundant unmanned underwater vehicle for integration into a robotic complex of three basing environments».

DOI
https://doi.org/10.31776/RTCJ.8407

Bibliographic description
Goryunov, V., Polovko, S. and Tschur, N., 2020. Technology of cybernetic models’ creating for the synthesis and refinement of autonomous underwater vehicle motion control system controllers. Robotics and Technical Cybernetics, 8(4), pp.308-318.

UDC identifier:
681.5.015:629.584

References

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