Synthesis and research of automatic control systems of propulsion-steering complex of submarine vehicle

Authors

  • Володимир Степанович Блінцов Admiral Мakarov National university of shipbuilding 9 Heroev Atalingrada ave., Nikolaev, Ukraine, 54000, Ukraine
  • Сергій Михайлович Волянський Admiral Мakarov National university of shipbuilding 9 Heroev Atalingrada ave., Nikolaev, Ukraine, 54000, Ukraine

DOI:

https://doi.org/10.15587/1729-4061.2015.51708

Keywords:

barounloaded induction motor, control efficiency, simulation, propulsion-steering complex, control quality indicators, specialized simulation complex

Abstract

A generalized block diagram of the PSC ACS based on the BIM in the horizontal rectilinear motion of the SV was developed, based on which, depending on the controlled variable, control laws to stabilize the angular rotation velocity, the propeller stop of the SV and the velocity of the SV in its horizontal rectilinear motion were obtained. The structure, operation algorithm and computer program for implementing adaptive PID controllers and fuzzy controllers were designed. Adaptive PID controllers and fuzzy controllers for high-precision  PSC ACS based on BIM in the horizontal rectilinear motion of the SV were synthesized. A specialized simulation complex (SSC) to investigate the ACS effectiveness of electric drives of any type of current, which includes metrologically certified training and research laboratory tool "TS-1Test stand" was designed, created, developed, implemented into production and training process. The PSC ACS based on the BIM in the horizontal rectilinear motion of the SV was developed, implemented and investigated on the SSC.

Author Biographies

Володимир Степанович Блінцов, Admiral Мakarov National university of shipbuilding 9 Heroev Atalingrada ave., Nikolaev, Ukraine, 54000

Doctor of Technical Science, professor

Head of department

Department electrical equipment of courts and informative safety

pro-rector on science

Сергій Михайлович Волянський, Admiral Мakarov National university of shipbuilding 9 Heroev Atalingrada ave., Nikolaev, Ukraine, 54000

Teacher

Department of electrical equipment of courts and informative safety 

References

  1. Ageev, M. D. (2004). Avtonomnye neobitaemye podvodnye apparaty. Vladivostok: Dal'nauka, 272.
  2. Blincov, V. S., Kostenko, D. V., Shimchak, P. (2001). Opredelenie poter' v po-gruzhnom jelektroprivode podvodnogo apparata. Vіsnik Nacіonal'nogo tehnіchnogo unіversitetu «Harkіvs'kij polіtehnіchnij іnstitut». Zbіrka naukovih prac', 10, 410–411.
  3. Filaretov, V. P., Ukliimets, D. A. (2001). Adaptive Control System with Variable Structure for Underwater Robot. Proc. of the 12 DAAAM Symp. on Intelligent Automation and Manufacturing, Jena, Germany, 141–142.
  4. Korol', Ju. M. (2004). Vlijanie gidrodinamicheskih poter' na mehanicheskie harakteristiki kapsuli-rovannyh upravljaemyh asinhronnyh dvigatelej podvodnyh apparatov. Sb. nauch. trudov. Nikolaev: NUK, 6, 15–24.
  5. Mann, G. K. I., Bao-Gang Hu, Gosine, R. G. (1999). Analysis of direct action fuzzy PID controller structures. IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics), 29 (3), 371–388. doi: 10.1109/3477.764871
  6. Widrow, B., Walach, E. (1996). Adaptive Inverse Control. Prentice-Hall, 4, 111–114.
  7. Bocharov, L. Ju. (2006). Sovremennye tendencii v razvitii miniatjurnyh podvodnyh apparatov i robotov za rubezhom. Podvodnye issledovanija i robototehnika, 2, 36–52.
  8. Voljas'kij, S. M., Blіncov, V. S. (2015). Udoskonalennja avtomatichnogo keruvannja rushіjno-kermovim kompleksom pіdvodnogo aparata. Problemi avtomatizovanogo elektroprivoda. Teorіja і praktika. Sb. nauk. prac' NTU «HPІ», 238–243.
  9. Aicardi, M., Casalino, G., Indiveri, G. (2001). Closed loop time invariant control of 3D underactuated underwater vehicles. Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 903–908. doi: 10.1109/robot.2001.932665
  10. Zhou, J. Y., Zhou, R. J., Wang, Y. Y. (2001). Robust nonlinear reduced-order dynamic controller design and its application to a single-link manipulator. Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 1149–1154. doi: 10.1109/robot.2001.932766

Published

2015-10-21

How to Cite

Блінцов, В. С., & Волянський, С. М. (2015). Synthesis and research of automatic control systems of propulsion-steering complex of submarine vehicle. Eastern-European Journal of Enterprise Technologies, 5(2(77), 58–63. https://doi.org/10.15587/1729-4061.2015.51708