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Pregled bibliografske jedinice broj: 251656

Zbornik radova

Autori: Mišković, Nikola; Vukić, Zoran; Barišić, Matko; Tovornik, Boris
Naslov: Autotuning Autopilots for Micro-ROVs
Izvornik: CD-ROM Proceedings of 14th Mediterranean Conference on Control and Automation : MED06Ancona : Universita Politecnica delle Marche , 2006. (ISBN: 0-9786720-0-3).
Skup: 14th Meditteranean Conference on Control and Automation : MED06
Mjesto i datum: Ancona, Italija, 28-30.06.2006.
Ključne riječi: autotuning; ROV; autopilot
Sažetak:
Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main benefit of this procedure is that the model of the process does not have to be known. Autotuning is often used for industrial processes but not on marine vessels. This procedure, which is performed in closed-loop, is completely automated and enables the operator to retune an autopilot whenever ROV performance is degraded (due to different operating points, tether influence, currents, etc.). In this article we use already known different autotuning recommendations (primarily designed for Type 0 processes) with some modifications which we recommend for micro-ROVs. We also give results of using different types of PID controllers, whose parameters are being tuned. A real life demonstration on a VideoRay Pro II micro-ROV is provided.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 0036010
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika
Puni text rada: 251656.paper_Autotuning_Autopilots_for_MicroROVs_final2.pdf



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