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dc.contributor.authorHaugen, Finn
dc.date.accessioned2010-12-22T13:43:54Z
dc.date.accessioned2017-04-19T12:49:56Z
dc.date.available2010-12-22T13:43:54Z
dc.date.available2017-04-19T12:49:56Z
dc.date.issued2010
dc.identifier.citationModeling Identification and Control 31(2010) Nr. 2, S. 67-77
dc.identifier.issn1890-1328
dc.identifier.urihttp://hdl.handle.net/11250/2438429
dc.description.abstractThis paper is about position control of a speci c small-scale pilot underwater lifting body where the lifting force stems from buoyancy adjusted with an air pocket in the lifting body. A mathematical model is developed to get a basis for a simulator which is used for testing and for designing the control system, including tuning controller parameters. A number of di erent position controller solutions were tried both on a simulator and on the physical system. Successful control on both the simulator and the physical system was obtained with cascade control based on feedback from measured position and height of the air pocket in the lifting body. The primary and the secondary controllers of the cascade control system were tuned using Skogestad's model-based PID tuning rules. Feedforward from estimated load force was implemented in combination with the cascade control system, giving a substantial improvement of the position control system, both with varying position reference and varying disturbance (load mass).
dc.language.isoeng
dc.publisherNorwegian Society of Automatic Control
dc.subjectUnderwater
dc.subjectair lift
dc.subjectbuoyancy
dc.subjectposition control
dc.titleControl of a Buoyancy-Based Pilot Underwater Lifting Body
dc.typeJournal article
dc.description.versionPublished version
dc.subject.nsi563


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