Please use this identifier to cite or link to this item:
http://hdl.handle.net/2282/1043
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| Title: | Control of a Buoyancy-Based Pilot Underwater Lifting Body |
| Authors: | Haugen, Finn |
| Issue Date: | 2010 |
| Abstract: | This 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). |
| Keywords: | Underwater
air lift
buoyancy
position control |
| Document type: | Journal article |
| URI: | http://hdl.handle.net/2282/1043 |
| Appears in Collections: | Institutt for elektro, IT og kybernetikk
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