Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Roll/Pitch Attitude Control of an Underwater Robot using Ballast Tanks

밸러스트 탱크를 이용한 수중로봇의 Roll/Pitch의 자세제어

  • Choi, Sunghee (Department of Electrical Engineering, Pusan National University) ;
  • Do, Jinhyung (Department of Electrical Engineering, Pusan National University) ;
  • Lee, Jangmyung (Department of Electrical Engineering, Pusan National University)
  • 최성희 (부산대학교 전자전기공학과) ;
  • 도진현 (부산대학교 전자전기공학과) ;
  • 이장명 (부산대학교 전자전기공학과)
  • Received : 2013.05.15
  • Accepted : 2013.06.30
  • Published : 2013.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposes a new method on attitude control of an underwater robot by using five ABTs (Attitude Ballast Tank). A pipe is connected to the bottom of the ABTs and transfers water by a pump, while another pipe is connected to the top of the ABT to transfer air. The buoyancy center of the underwater robot can be changed by means of the water transfer. This way, the attitude of the underwater robot can be maintained and/or controlled as desired. The changes of the center of gravity and the buoyancy central are estimated by a Lagrangian function which is similar to that for an inverted pendulum. The controller in this paper is designed by modeling of the underwater robot and selecting suitable gains of a PD controller which has fast response characteristics. This paper shows the possibility of the attitude control of an underwater robot by changing the center of gravity and the buoyancy center of the robot. Moreover, experimental results verify that the controller is effective in maintaining Roll/Pitch of the underwater robot with very low power consumption.

Keywords

References

  1. T.-W. Kim and J. Yuh, "A novel neuro-fuzzy controller for autonomous underwater vehicles," International Conference on Robotics & Automation, vol. 3, pp. 2350-2355, May. 2001.
  2. R. L. Marks, S. M. Rock, and M. J. Lee, "Real-time video mosaicking of the ocean floor," IEEE Journal of Oceanic Engineering, vol. 20, pp. 229-241, Jul. 1995. https://doi.org/10.1109/48.393078
  3. D. A. Smallwood and L. L. Whitcomb, "Adaptive identification of dynamically positioned underwater robotic vehicles," IEEE Transactions on Control Systems Technology, vol. 5, pp. 505-515, Jul. 2003.
  4. C. Bulich, A. Klein, R. Watson, and C. Kitts, "Characterization of delay-induced piloting instability for the Triton undersea robot," Proc. of the 2004 IEEE Aerospace Conference, Mar.. 2004.
  5. D.-Y. Kwon, H.-I. Park, and D.-H. Jung, "A numerical for the dynamic behavior of the umbilical cable of a deep-sea unmanned underwater vehicle," Journal of Ocean Engineering and Technology (in Korean), vol. 19, no. 3, pp. 31-38, Jun. 2005.
  6. H.-I. Kim, "A numerical study for the design and analysis of a ballast system," Korea Advanced Institute of Science and Technology Master Thesis (in Korean), Feb. 2005.
  7. T. Sekhar and D. John, "A variable buoyancy control system for a large AUV," IEEE Journal of Oceanic Engineering, vol. 32, no. 4, pp. 762-771, Oct. 2007. https://doi.org/10.1109/JOE.2007.911596
  8. N. Sakagami, M. Shibata, S. Kawamura, T. Inoue, H. Onishi, and S. Murakami, "An attitude control system for underwater vehicle-manipulator systems," 2010 IEEE International Conference on Robotics and Automation Anchorage Convention District, Anchorage, Alaska, USA, pp. 1761-1767, May. 2010.
  9. J.-O. Lee, I.-W. Han, S.-I. Lee, and J.-M. Lee, "Attitude and direction control of the unicycle robot using fuzzy-sliding mode control," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 3, pp. 275-284, Mar. 2012. https://doi.org/10.5302/J.ICROS.2012.18.3.275
  10. S.-I. Lee, I.-W. Lee, M.-S. Kim, H. He, and J.-M. Lee, "Balancing and driving control of a bicycle robot," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 6, pp. 532-539, Jun. 2012. https://doi.org/10.5302/J.ICROS.2012.18.6.532
  11. R.-E. Park, E.-J. Hwang, H.-J. Lee, and H.-G Park, "Motion control of an AUV (Autonomous Underwater Vehicle) using fuzzy gain scheduling," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 16, no. 6, pp. 592-600, Jun. 2010. https://doi.org/10.5302/J.ICROS.2010.16.6.592
  12. J.-S. Ki, "Hovering control of convertible rov and study of underwater navigation system," Korea Maritime University Master Thesis (in Korean), Feb. 2013.
  13. K.-K. Kim, H.-S. Choi, H.-S. Kang, G.-R. Jeong, and K.-Y. Gwon, "Development of a remotely operated vehicle for investigation the coastal sea," Transactions of the KSME A (in Korean), vol. 32, no. 12, pp. 997-1002, Nov. 2008. https://doi.org/10.3795/KSME-A.2008.32.11.997
  14. Thrusters of a Tecnova inc http://www.tecnadyne.com/cms/index.php/products/products-overview/thruster