Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2010. / ENGLISH ABSTRACT: This thesis presents the design process of the movement control and guidance
systems for an automated underwater vehicle (AUV) constructed by the Institute of
Maritime Technology in Simon’s Town. The full non-linear mathematical model and
simulation environment for the AUV were previously developed in [1]. The design
process in this thesis covers an analysis of existing test data and the performance
of the current systems in place on the AUV, derivation and analysis of the linear
model for the AUV, design of upgraded control and guidance systems, analysis
of the new designs including simulation results, practical implementation of the
new designs and the results thereof. Over the course of this project a number of
flaws were identified in the original control designs and other aspects of the AUV.
Most notably, the capability of the AUV is limited owing to its construction, and
the current control and guidance methods result in poor movement characteristics.
The new control designs are executed through multiple SISO feedback loops, with
the most complicated controllers consisting of proportional and integral control. A
completely new guidance method was designed which grants theAUVthe ability to
track both straight line and circular path segments with no steady state error. These
designs were tested in simulation, with results showing good tracking performance,
even in the presence of output disturbances. The new designs were implemented
on the physical AUV, but testing was limited, with poor results being obtained. The
poor test results were caused primarily by the construction of the AUV. / AFRIKAANSE OPSOMMING: Hierdie tesis stel die ontwerpsproses voor vir die bewegingsbeheer- en navigasiestelsels
vir ’n outonome duikboot wat gebou is deur die Instituut vir Maritieme
Tegnologie in Simonstad. Die volle nie-lineˆere wiskundige model en simulasieomgewing
vir die duikboot is voorheen ontwikkel in [1]. Die ontwerpsproses in
hierdie tesis behels ’n analise van bestaande toetsdata en van die werksverrigting
van die stelsels wat tans op die duikboot ge¨ınstalleer is, die afleiding en analise
van ’n lineˆere model vir die duikboot, die ontwerp van verbeterde beheer- en navigasiestelsels,
die analise van die nuwe ontwerpe, wat simulasieresultate insluit,
die praktiese implementering van die nuwe ontwerpe, en die resultate daarvan.
Deur die loop van die projek is ’n aantal tekortkominge ge¨ıdentifiseer in die oorspronklike
beheerstelselontwerpe en ander aspekte van die duikboot. Die mees
beduidende tekortkominge is dat die vermo¨e van die duikboot beperk word deur
die konstruksie daarvan, en dat die huidige beheer- en navigasietegnieke swak
bewegingseienskappe lewer. Die nuwe beheerstelselontwerpe is uitgevoer deur
’n aantal enkelintree, enkeluittree terugvoerlusse, waar die mees komplekse beheerders
bestaan uit proporsionele en integraalbeheer. ’n Heeltemal nuwe navigasiemetode
is ontwerp, wat die duikboot in staat stel om beide reguit lyne en
sirkulˆere padsegmente te volg sonder ’n stasionˆere volgfout. Hierdie ontwerpe is
getoets in simulasie, waar die resultate goeie volging getoon het, selfs in die teenwoordigheid
van uittreeversteurings. Die nuwe ontwerpe is ge¨ımplementeer op
die fisiese duikboot, maar beperkte toetse is gedoen, en het swak resultate gelewer.
Die swak toetsresultate was hoofsaaklik as gevolg van die konstruksie van die
duikboot.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:sun/oai:scholar.sun.ac.za:10019.1/4244 |
| Date | 03 1900 |
| Creators | Pauck, Simon James |
| Contributors | Peddle, I. K., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. |
| Publisher | Stellenbosch : University of Stellenbosch |
| Source Sets | South African National ETD Portal |
| Language | English |
| Detected Language | Unknown |
| Type | Thesis |
| Format | 137 p. : ill. |
| Rights | University of Stellenbosch |
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