پديد آورنده :
غفاري، مجتبي
عنوان :
تحليل ديناميكي و طراحي سيستم كنترل ربات زير آبي شش پا
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان، دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
چهارده، 113ص: مصور، جدول، نمودار
استاد راهنما :
مهدي كشميري، محمد دانش
استاد مشاور :
محمد جعفر صديق دامغاني
توصيفگر ها :
باله صلب , كنترل مقاوم , كنترل تاخير زماني , كنترل كننده ∞H
تاريخ نمايه سازي :
14/10/92
استاد داور :
مرضيه كمالي، ايمان ايزدي
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Dynamic Analysis and Control System Design of Underwater Hexapod Mojtaba Ghafari m ghafari@me iut ac ir Date of Submission 2013 08 6 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc Language FarsiSupervisors Mehdi Keshmiri mehdik@cc iut ac ir Mohammad Danesh danesh@cc iut ac irAbstractUnderwater robotic vehicles URVs are widely used for inspection long range survey andoceanographic mapping data collection surveillance drill support and industrialendeavours that are often too dangerous or tedious for human divers Automatic control ofURVs presents several difficulties due to the highly nonlinearity of the dynamics the highdergree of model uncertainty resulting from poor knowledge of the hydrodynamiccoefficientes and the effect of external unmeasurable disturbances such as underwatercurrents This thesis describes the development and detailed analysis of a six degrees of freedom nonlinear model for the underwater hexapod robot vehicle In this research we extractkinematic and dynamic models of the vehicle that include calculation of gravity buoyancy hydrodynamic and propulsion forces and torques Finally simulation of the underwaterhexapod robot motion is achieved through numeric integration of the nonlinear motionequations in the earth fixed reference frame In this thesis two different approaches have been used to control the underwater robotstates The first approach is a new metheod based on robust nonlinear time delay controlfor underwater robots Simulation and implementation of a robust nonlinear controlprocedure which uses time delay control TDC for the nonlinear plant dynamic arediscussed Robust control law using time delay control has a very simple and efficientstraucture and does not require the nonlinear plant dynamics model in it The proposedcontrol algorithm uses the direct estimation of some plant parameters to cancel theunknown nonlinear dynamics and unexpected disturbances using observed informationthem with the time delayed values of control inputs and acceleration at the previous timestep It is work to mention that the sufficient conditions of the overall stability requiresknowledge of the inertial matrix of the underwater robot The second approach uses thelinear equations of motion and deals with the uncertainties and unknown dynamics Thedesign of controller is formulated as the problem of minimizing the mixed sensitivityfunction and then solving it numerically by the LMI based H method The behaviour ofthe controllers is assessed by simulations with a full nonlinear model of the vehicle Finally simulation results show that both proposed controller can effectively track giventrajectories in the presence of uncertainty in hydrodynamic parameters
استاد راهنما :
مهدي كشميري، محمد دانش
استاد مشاور :
محمد جعفر صديق دامغاني
استاد داور :
مرضيه كمالي، ايمان ايزدي
