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Exploration of Overactuated AUV Cont...

Sondergeld, Alexei,

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Exploration of Overactuated AUV Control: Investigation of Frequency Based Control Allocation for Hovering Operation and Cross Body Thruster Dynamics for Variable Forward Speed Operation /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Exploration of Overactuated AUV Control: Investigation of Frequency Based Control Allocation for Hovering Operation and Cross Body Thruster Dynamics for Variable Forward Speed Operation // Alexei Sondergeld.
Author:	Sondergeld, Alexei,
Description:	1 electronic resource (257 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 86-07, Section: B.
Contained By:	Dissertations Abstracts International86-07B.
Subject:	Ocean engineering. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31763390
ISBN:	9798302169761

Exploration of Overactuated AUV Control: Investigation of Frequency Based Control Allocation for Hovering Operation and Cross Body Thruster Dynamics for Variable Forward Speed Operation /
Sondergeld, Alexei,

Exploration of Overactuated AUV Control: Investigation of Frequency Based Control Allocation for Hovering Operation and Cross Body Thruster Dynamics for Variable Forward Speed Operation /Alexei Sondergeld. - 1 electronic resource (257 pages)

Source: Dissertations Abstracts International, Volume: 86-07, Section: B.

This dissertation explores overactuated depth control of autonomous underwater vehicles (AUVs). The depth actuators that are explored include the traditional aft thruster and maneuvering fins, as well as an actively controlled ballast/buoyancy system and some form of vertical thruster system. Our ultimate goal is to combine the mobility of an AUV with the hovering capability of a controllable float. We aim to assess control systems that can strategically allocate control effort between actuators in a manner informed by the strengths and weaknesses of these actuators. The ultimate objective is to allow an AUV to operate through the full range of speeds from hovering operation (zero forward speed) to full design speed, but in this research, the exploration of control using these actuator types was split into two distinct investigations: frequency-based allocation between "fast" (such as fins and thrusters) versus "slow" (buoyancy system) actuators, and the second investigation involves examining vehicle-speed-dependent actuators (fins and thrusters). Chapter 1 focuses on investigating hovering operation and frequency based allocation. Chapter 2 investigates the properties of the high-frequency actuators across a range of vehicle speeds and introduces a method that can be used to determine speed-based allocation for any type of AUV.The first investigation, which explores frequency-based control allocation, uses a hovering (zero surge speed) AUV which utilizes a water-filled buoyancy bladder and vertical thrusters to follow varying depth trajectories. This investigation included both an assessment of two strategies (PID-only and PID combined with a complementary filter) for splitting the high and low frequency components, as well as an analysis of the effect of depth and controller tuning on the vehicle's energy consumption. While this specific set of experiments uses a stationary AUV, these control allocation methods can also be used for allocating between fins and buoyancy systems.The second investigation, which explores surge-speed-dependent actuators, focuses on using dynamometry to determine the quantitative relationship between speed ratio (between vehicle forward speed and thruster exit speed) and thrust ratio (between thrust at forward speed and thrust at zero speed). This was conducted with three vertical thruster structures: a traditional through-hull tunnel thruster, a "wing thruster" where two thrusters are cantilevered off of the sides of the vehicle, and a "bare thruster" which tests the two-thruster configuration of the wing thruster trials except without the presence of the vehicle body. In addition to the quantitative trials, we also used particle image velocimetry (PIV) to directly visualize the flow fields near the thrusters and identify flow patterns that correspond with features noted in the dynamometry data.From the dynamometry data that we collected, we demonstrated a method determine the envelope of possible vertical heave force at varying vehicle speeds if the vehicle is equipped with both vertical thruster(s) and a set of traditional fins with an axial propulsion thruster. This demonstration also includes a method of determining the energy consumption of the combination of fins and thrusters for varying speeds. In this way, this information can be used to determine the control and energy requirements of the high-frequency actuators and can be combined with the frequency-dependent actuator analysis methods from the first chapter in order to determine control design for an operational vehicle.

English

ISBN: 9798302169761Subjects--Topical Terms:

660731
Ocean engineering.
Subjects--Index Terms:

Complementary control

Exploration of Overactuated AUV Control: Investigation of Frequency Based Control Allocation for Hovering Operation and Cross Body Thruster Dynamics for Variable Forward Speed Operation /
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245 1 0 $a Exploration of Overactuated AUV Control: Investigation of Frequency Based Control Allocation for Hovering Operation and Cross Body Thruster Dynamics for Variable Forward Speed Operation / $c Alexei Sondergeld.
264 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2024
300 $a 1 electronic resource (257 pages)
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500 $a Source: Dissertations Abstracts International, Volume: 86-07, Section: B.
500 $a Advisors: Licht, Stephen Committee members: Roman, Christopher; Zhou, Mingxi; Stegagno, Paolo.
502 $b Ph.D. $c University of Rhode Island $d 2024.
520 $a This dissertation explores overactuated depth control of autonomous underwater vehicles (AUVs). The depth actuators that are explored include the traditional aft thruster and maneuvering fins, as well as an actively controlled ballast/buoyancy system and some form of vertical thruster system. Our ultimate goal is to combine the mobility of an AUV with the hovering capability of a controllable float. We aim to assess control systems that can strategically allocate control effort between actuators in a manner informed by the strengths and weaknesses of these actuators. The ultimate objective is to allow an AUV to operate through the full range of speeds from hovering operation (zero forward speed) to full design speed, but in this research, the exploration of control using these actuator types was split into two distinct investigations: frequency-based allocation between "fast" (such as fins and thrusters) versus "slow" (buoyancy system) actuators, and the second investigation involves examining vehicle-speed-dependent actuators (fins and thrusters). Chapter 1 focuses on investigating hovering operation and frequency based allocation. Chapter 2 investigates the properties of the high-frequency actuators across a range of vehicle speeds and introduces a method that can be used to determine speed-based allocation for any type of AUV.The first investigation, which explores frequency-based control allocation, uses a hovering (zero surge speed) AUV which utilizes a water-filled buoyancy bladder and vertical thrusters to follow varying depth trajectories. This investigation included both an assessment of two strategies (PID-only and PID combined with a complementary filter) for splitting the high and low frequency components, as well as an analysis of the effect of depth and controller tuning on the vehicle's energy consumption. While this specific set of experiments uses a stationary AUV, these control allocation methods can also be used for allocating between fins and buoyancy systems.The second investigation, which explores surge-speed-dependent actuators, focuses on using dynamometry to determine the quantitative relationship between speed ratio (between vehicle forward speed and thruster exit speed) and thrust ratio (between thrust at forward speed and thrust at zero speed). This was conducted with three vertical thruster structures: a traditional through-hull tunnel thruster, a "wing thruster" where two thrusters are cantilevered off of the sides of the vehicle, and a "bare thruster" which tests the two-thruster configuration of the wing thruster trials except without the presence of the vehicle body. In addition to the quantitative trials, we also used particle image velocimetry (PIV) to directly visualize the flow fields near the thrusters and identify flow patterns that correspond with features noted in the dynamometry data.From the dynamometry data that we collected, we demonstrated a method determine the envelope of possible vertical heave force at varying vehicle speeds if the vehicle is equipped with both vertical thruster(s) and a set of traditional fins with an axial propulsion thruster. This demonstration also includes a method of determining the energy consumption of the combination of fins and thrusters for varying speeds. In this way, this information can be used to determine the control and energy requirements of the high-frequency actuators and can be combined with the frequency-dependent actuator analysis methods from the first chapter in order to determine control design for an operational vehicle.
546 $a English
590 $a School code: 0186
650 4 $a Ocean engineering. $3 660731
650 4 $a Robotics. $3 519753
650 4 $a Fluid mechanics. $3 528155
653 $a Complementary control
653 $a Complementary filter
653 $a Emerging jet
653 $a Tunnel thruster
653 $a Vertical thruster
653 $a Autonomous underwater vehicles
690 $a 0547
690 $a 0771
690 $a 0204
710 2 $a University of Rhode Island. $b Ocean Engineering. $e degree granting institution. $3 3816913
720 1 $a Licht, Stephen $e degree supervisor.
773 0 $t Dissertations Abstracts International $g 86-07B.
790 $a 0186
791 $a Ph.D.
792 $a 2024
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31763390