Sustav upravljanja malog podvodnog vozila

Koroman, Vladimir (1997) Sustav upravljanja malog podvodnog vozila. = Doctoral thesis , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Šurina, Tugomir.

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Abstract (Croatian)

U disertaciji su sistematizirani pojmovi, definicije, izrazi, neophodni pokazatelji, uvjeti i bitne karakteristike potrebne za izbor i razvoj optimalne klase bespilotne ronilice posebne namjene za uporabu u Jadranskom moru. Sustavno su obrađeni dostupni podaci iz literature, temeljem kojih je određena funkcionalna blok shema bespilotne ronilice kao tehničkog sustava sačinjenog od tri osnovna podsustava: podsustav upravljanja, podsustav propulzije i podsustav ronilice kao objekta upravljanja. U svrhu određivanja dinamičkog ponašanja sustava, određeni su prikladni matematički modeli propulzorske konfiguracije i bespilotne ronilice kao čvrstog tijela sa šest stupnjeva slobode. S obzirom na zahtijevana manevarska svojstva ronilice predložena je prikladna strukturna shema sustava koji omogućava provedbu analize dinamičkog ponašanja. Provedena je sinteza sustava vođenja ronilice po kursu i trajektoriji to sinteza sustava koordinatnog upravljanja propulzorima kao izvrsnim članovima za dinamičko pozicioniranje. Svi zahtijevana manevri ronilice analizirani su na odgovarajućim simulacijskim modelima. Temeljem rezultata simulacije manevra ronilice i definirane strukturne sheme bespilotne ronilice kao tehničkog sustava, osmišljen je i realiziran simulacijski model modularne konfiguracije, prikladan za sintezu algoritama upravljanja, edukaciju i konkretnu realizaciju programske podrške kao i za sintezu konvencionalnih i nekonvencionalnih algoritama upravljanja.

Abstract

The concepts, definitions, expressions, necessary indicators, conditions and principal characteristics that are essential for the selection and design of an optimal class of unmanned special-purpose underwater vehicle intended for operation in the Adriatic Sea are systematically presented in the disertation. Based on the avaliable data from literature, a functional block diagram of the underwater vehicle is made. It represents a system consisting of three basic subsystems. control subsystem, propulsion subsystem, and the vehicle itself as the object of control. In order to define the dynamic behaviour of the system, appropriate mathematical models of the propulsion configuration and the underwater vehicle as a rigid body with six degrees of freedom are presented. Concerning the defined manoeuvring properties of the vehicle, an appropriate structural model which enables the analysis of dynamic behaviour is proposed. The synthesis of the vehicle control system along the course and the trajectory is also given, as well as the synthesis of the coordinate control of the propulsors as the actuators of dynamic positioning. All the requiredmanoeuvres of the vehicle are analysed using corresponding simulation models. Based on the simulation results of the vehicle manoeuvresand the defined structural scheme of the vehicle as a technical system, a simulation model of the modular configuration is conceived ans realised. The model is suitable for the synthesis of control algorithms, for education and practical realisation in programming conventional and unconventional control alghoritms.

Item Type: Thesis (Doctoral thesis)
Uncontrolled Keywords: podvodno vozilo; bespilotna ronilica; sustav propulzije; koordinatno upravljanje; dinamičko pozicioniranje
Keywords (Croatian): underwater vehicle; unmanned underwater vehicle; propulsion systems; coordinate control; dynamic positioning
Divisions: 900 Department of Robotics and Production System Automation
Date Deposited: 22 Sep 2014 18:00
Last Modified: 16 Oct 2015 13:20
URI: http://repozitorij.fsb.hr/id/eprint/118

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