<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This article addresses the practical aspects of the synthesis of an automatic control system for the thrust allocation strategy in the propulsion system of an unmanned underwater vehicle. The vehicle under consideration is a robot submarine equipped with a multi-propulsion system providing four degrees of freedom of movement. The power distribution algorithms are based on limited optimisation methods that allow the determination, on the basis of generalised torques and forces, of how much thrust is required to be produced by individual propulsors. Considering the issue of power distribution as a task of square and linear programming, two algorithms of thrust allocation were proposed and compared. The conducted model tests made it possible to evaluate their quality and efficiency in relation to speed and computational complexity.</p></abstract>

This article addresses the practical aspects of the synthesis of an automatic control system for the thrust allocation strategy in the propulsion system of an unmanned underwater vehicle. The vehicle under consideration is a robot submarine equipped with a multi-propulsion system providing four degrees of freedom of movement. The power distribution algorithms are based on limited optimisation methods that allow the determination, on the basis of generalised torques and forces, of how much thrust is required to be produced by individual propulsors. Considering the issue of power distribution as a task of square and linear programming, two algorithms of thrust allocation were proposed and compared. The conducted model tests made it possible to evaluate their quality and efficiency in relation to speed and computational complexity.

The practical aspects of implementation of the thrust allocation procedure for a multi-propulsor underwater robot

Faculty of Mechanical and Electrical Engineering, Polish Naval Academy Gdynia

Polish Hyperbaric Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

This article addresses the practical aspects of the synthesis of an automatic control system for the thrust allocation strategy in the propulsion system of an...

The practical aspects of implementation of the thrust allocation procedure for a multi-propulsor underwater robot

Publicado en línea: 29 mar 2019

Páginas: 39 - 48

Recibido: 24 ago 2018

Aceptado: 19 oct 2018

DOI: https://doi.org/10.2478/phr-2018-0022

Palabras clave
underwater vehicle, propulsion system, power distribution

© 2018 Jerzy Garus et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

The practical aspects of implementation of the thrust allocation procedure for a multi-propulsor underwater robot

Publicado en línea: 29 mar 2019

Páginas: 39 - 48

Recibido: 24 ago 2018

Aceptado: 19 oct 2018

DOI: https://doi.org/10.2478/phr-2018-0022

Palabras claveunderwater vehicle, propulsion system, power distribution

© 2018 Jerzy Garus et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Palabras clave
underwater vehicle, propulsion system, power distribution