Naslov
Autotuning Autopilots for Micro-ROVs

Autori
Mišković, Nikola ; Vukić, Zoran ; Barišić, Matko ; Tovornik, Boris

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
CD-ROM Proceedings of 14th Mediterranean Conference on Control and Automation : MED06 / - Ankona : Universita Politecnica delle Marche, 2006

ISBN
0-9786720-0-3

Skup
14th Meditteranean Conference on Control and Automation : MED06

Mjesto i datum
Ancona, Italija, 28.06.2006. - 30.06.2006

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA