Design and Verification of Deep Submergence Rescue Vehicle Motion Control System Article Swipe
Chunmeng Jiang
,
Hongrui Zhang
,
Lei Wan
,
Jinhua Lv
,
Jianguo Wang
,
J. Tang
,
Gongxing Wu
,
Bin He
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/s23156772
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/s23156772
A six degree-of-freedom (DOF) motion control system for docking with a deep submergence rescue vehicle (DSRV) test platform was the focus of this study. The existing control methods can meet the general requirements of underwater operations, but the complex structures or multiple parameters of some methods have prevented them from widespread use. The majority of the existing methods assume the heeling effect to be negligible and ignore it, achieving motion control in only four or five DOFs. In view of the demanding requirements regarding positions and inclinations in six DOFs during the docking process, the software and hardware architectures of the DSRV platform were constructed, and then sparse filtering technology was introduced for data smoothing. Based on the adaptive control strategy and with a consideration of residual static loads, an improved S-plane control method was developed. By converting the force (moment) calculated by the controller to the body coordinate system, the complexity of thrust allocation was effectively reduced, and the challenge of thrust allocation in the case of a high inclination during dynamic positioning was solved accordingly. The automatic control of the trimming angle and heeling angle was realized with the linkage system of the ballast tank and pump valve. A PID method based on an intelligent integral was proposed, which not only dealt with the integral “saturation” problem, but also reduced the steady-state error and overshooting. Water pool experiments and sea trials were carried out in the presence of water currents for six-DOF motion control. The responsiveness and precision of the control system were verified by the pool experiment and sea trial results and could meet the control requirements in engineering practice. The reliability and operational stability of the proposed control system were also verified in a long-distance cruise.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/s23156772
- https://www.mdpi.com/1424-8220/23/15/6772/pdf?version=1690716908
- OA Status
- gold
- Cited By
- 1
- References
- 68
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4385421718
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4385421718Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/s23156772Digital Object Identifier
- Title
-
Design and Verification of Deep Submergence Rescue Vehicle Motion Control SystemWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-07-28Full publication date if available
- Authors
-
Chunmeng Jiang, Hongrui Zhang, Lei Wan, Jinhua Lv, Jianguo Wang, J. Tang, Gongxing Wu, Bin HeList of authors in order
- Landing page
-
https://doi.org/10.3390/s23156772Publisher landing page
- PDF URL
-
https://www.mdpi.com/1424-8220/23/15/6772/pdf?version=1690716908Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/1424-8220/23/15/6772/pdf?version=1690716908Direct OA link when available
- Concepts
-
Control theory (sociology), Thrust, Motion control, Smoothing, Engineering, PID controller, Simulation, Control engineering, Control system, Computer science, Motion controller, Robot, Artificial intelligence, Control (management), Electrical engineering, Temperature control, Computer vision, Aerospace engineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
1Total citation count in OpenAlex
- Citations by year (recent)
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2024: 1Per-year citation counts (last 5 years)
- References (count)
-
68Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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