A Novel Approach to Measure under Water Vehicle Disturbance Force for Station Keeping Control
A Novel Approach to Measure under Water Vehicle Disturbance Force for Station Keeping Control
复制标题
水车扰动力下测站控制的新方法
DOI：
10.5220/0004036704600463
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
T. Asokan
中科院分区：
文献类型：
--
作者：
J. Selvakumar;T. Asokan
水下航行器要成功完成使命，目标位置和/或方位的保持是必不可少的。然而，在工作级车辆的情况下，由于干扰力的存在，位置保持成为一个重要的问题，需要有效的反馈机制来保持姿态。通常，由于干扰力引起的位置变化被监视并反馈到位置保持控制器以进行必要的校正。这会导致不必要的响应延迟和车辆位置的连续变化。在本文中，已尝试开发一个干扰力测量装置，使用应变片，将直接测量干扰力，可用于预测车辆姿态干扰，并作出必要的修正，甚至在车辆开始响应干扰力。力测量所采用的方法和实验分析表明，有前途的结果。该方法可作为水下机器人位置保持控制的一种替代反馈机制。
Maintenance of target position and/or orientation is essential for underwater vehicles (UWV) to successfully complete a mission. However, in the case of work class vehicles, station keeping becomes an important issue due to the presence of disturbance forces and requires effective feedback mechanism to maintain the pose. Conventionally, the changes in position due to disturbance force is monitored and fed back to the station keeping controller to make necessary corrections. This introduces unnecessary delay in response and continuous variations in vehicle position. In this paper, an attempt has been made to develop a disturbance force measurement setup using strain gauges which will directly measure the disturbance forces which can be used for predicting the vehicle pose disturbance and make necessary corrections even before the vehicle starts responding to the disturbance forces. The methodology adopted for force measurement is presented and experimental analysis has shown promising results. This approach can be used as an alternative feedback mechanism for station keeping control of underwater Vehicles.