پديد آورنده :
ابدي مروزني، حميد
عنوان :
مدلسازي ديناميكي وطراحي سيستم كنترل مسير براي شناور زيرسطحي بدون سرنشين
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مهندسي مكانيك
صفحه شمار :
سيزده، 96ص.: مصور، جدول، نمودار
استاد مشاور :
مهدي كشميري
توصيفگر ها :
شناور جرم متغير , نامعيني پارامتري , كنترل كننده لغزشي , چترينگ
تاريخ نمايه سازي :
1394/07/11
استاد داور :
سعيد بهبهاني، حسن موسوي
تاريخ ورود اطلاعات :
1396/10/04
چكيده فارسي :
به فارسي و انگليسي
چكيده انگليسي :
46 Dynamic Modelling and Motion Control System Design for an Unmanned Underwater Vehicle UUV Hamid Abadi Marzooni h abadi@mec iut ac ir Date of Submission 2015 07 29 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisor Mohammad Danesh danesh@cc iut ac irAbstractIn recent years underwater robotic vehicles have become an intense area of oceanic researches because of theiremerging applications Modelling and control of underwater vehicles are extremely difficult tasks Many interactingfactors which are involved in underwater vehicle dynamics can cause oscillatory or unstable operations This thesis is one of the few works deals with modelling and control of a Variable Mass Underwater Vehicle VMUV with six degrees of freedom In this research the general form of the governing equations that could beaccounted as an essential prerequisite for simulation of a body is derived for an underwater varying mass body Inthis study the appropriate forms of the aforementioned equations in the body frame and fixed frame are presentedand the simulation results of dynamic modelling are analyzed The analysis of simulation results validate dynamicmodelling Since the mass of VMUV changes during the operation both the mass and its center change with time Therefore dynamic equations are written around the center of buoyancy and these are more complicated than the equations ofthe fixed mass underwater vehicles On the other hand the hydrodynamic forces and moments which could be viewed as the main inputs for simulationprocess are generally nonlinear functions of system variables and are calculated with their correspondingcoefficients These coefficients in turn depend on different system variables and are calculated through thehydrodynamic analysis It is difficult to accurately determine hydrodynamic coefficients and the dynamics ofunderwater vehicles therefore robust control method are suitable choices for controlling them This thesis presents a new control approach based on sliding mode theory for variable mass underwater vehicles which is robust to external disturbance and system uncertainties This control law includes a multivariableexponential function to eliminate the control signal chattering Through a theorem state convergence to the slidingsurface and uniform global asymptotic stability of the proposed control system are guaranteed based on Lyapunovstability theory for non autonomous systems The proposed approach is compared with a conventional sliding modecontroller Computer simulations are done by considering suitable levels of uncertainty in hydrodynamic coefficietsand a bounded disturbance force and moment The results of simulating the control system for a 6DOF variablemass AUV REMUS confirm the validity and effectiveness of the proposed approach Key words Variable mass underwater vehicle parameter uncertainty sliding mode control chattering
استاد مشاور :
مهدي كشميري
استاد داور :
سعيد بهبهاني، حسن موسوي
