DC Thruster Controller Implementation with Integral Anti-wind up Compensator for Underwater ROV

This paper presents the implementation and experimental results of different conventional position control schemes for positioning an experimental model, the THETIS Underwater Remotely Operated Vehicle (UROV). To achieve minimum response time and in order to avoid the so-called Integral Wind-up phenomenon, Proportional-Integral (PI) plus integral antiwind-up compensation is used. Hardware implementation of the design is described and experimental results of a digital position control system over one direction using two dc thrusters fed by four quadrant (PWM-Driven) transistor choppers are given. All control algorithms are implemented using a TI's Digital Signal Processor (DSP). The actual position and orientation of the vehicle in a 3-D space is derived through a combination of an ultrasonic scanning system, a direction gyrocompass, and a pressure depth sensor. The vehicle's use at the present stage of development is to perform water pollution measurements.

[1]  J. J. Carroll,et al.  Integrator backstepping techniques for the tracking control of permanent magnet brush DC motors , 1993, Conference Record of the 1993 IEEE Industry Applications Conference Twenty-Eighth IAS Annual Meeting.

[2]  David Rees,et al.  Industrial Digital Control Systems , 1988 .

[3]  Junku Yuh,et al.  Development of the Omni Directional Intelligent Navigator , 1995, IEEE Robotics Autom. Mag..

[4]  A. J. Healey,et al.  Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles , 1993 .

[5]  G. C. Bakos,et al.  Digital ultrasonic scanning system for positioning underwater remotely operated vehicles , 1994 .

[6]  Liu Hsu,et al.  Design of a high performance variable structure position control of ROVs , 1995 .

[7]  Naomi Ehrich Leonard.  Control synthesis and adaptation for an underactuated autonomous underwater vehicle , 1995 .

[8]  B. Allen,et al.  Remote environmental measuring units , 1994, Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94).

[9]  Tamaki Ura,et al.  An on-line adaptation method in a neural network based control system for AUVs , 1995 .

[10]  P.A. DeBitetto.  Fuzzy logic for depth control of unmanned undersea vehicles , 1994, Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94).

[11]  Yoichi Hori,et al.  Robust servosystem design with two degrees of freedom and its application to novel motion control of robot manipulators , 1993, IEEE Trans. Ind. Electron..

[12]  J.F. Grassle,et al.  Leo-15 An Unmanned Long Term Environmental Observatory , 1992, OCEANS 92 Proceedings@m_Mastering the Oceans Through Technology.