Preliminary Numerical Study on Designing Navigation and Stability Control Systems for ITS AUV

In this paper, the numerical study of designing on navigation and stability control system for AUV is studied. The study started by initiating hydrostatic forces, added masses, lift force, drag forces and thrust forces. Determining the hydrodynamic force which is the basic need to know the numerical case study on designing on navigation and stability control system for AUV where Autonomous Underwater vehicles (AUV). AUV is capably underwater vehicle in moving automatically without direct control by humans according to the trajectory. The result of numerical study is properly to be the reference for the next developing for AUV

Preliminary Study on Magnetic Levitation Modeling Using PID Control

This paper proposes to understand about basic magnetic levitation model. Magnetic Levitation is repulsive or attractive force resulting gap from magnetic field. Characteristic of the magnetic levitation model is used permanent magnet and electromagnet with PID control to maintain wide gap between levitator and object levitation. Mass addition is used to analysis the model of the Maglev with PID control to maintain wide gap. Calculation result show that the maglev with PID control has sufficient levitation force in the maintain wide gap. Comparison between calculated and measured values can be done to build a another complex model magnetic levitation

Control simulation of an Automatic Turret Gun based on force control method

Automatic Turret Gun (ATG) is a weapon system used in numerous combat platforms and vehicles such as in tanks, aircrafts, or stationary ground platforms. ATG plays a big role in both defensive and offensive scenario. It allows combat engagement while the operator of ATG (soldier) covers himself inside a protected control station. On the other hand, ATGs have significant mass and dimension, therefore susceptible to inertial disturbances that need to be compensated to enable the ATG to reach the targeted position quickly and accurately while undergoing disturbances from weapon fire or platform movement. The paper discusses various conventional control method applied in ATG, namely PID controller, RAC, and RACAFC. A number of experiments have been carried out for various range of angle both in azimuth and elevation axis of turret gun. The results show that for an ATG system working under disturbance, RACAFC exhibits greater performance than both RAC and PID, but in experiments without load, equally satisfactory results are obtained from RAC. The exception is for the PID controller, which cannot reach the entire angle given

A Study on the Effect of an Attractive and a Repulsive Forces with Feedback Control on a Magnetic Levitation System

This research was conducted to observe the effect of an attractive force and a repulsive force on a magnetic levitation (maglev) with the addition of a feedback control system. Initially, the study was conducted by observing the displacement gap from both type of maglev without an application of a control system. Closed loop control experiments were performed by implementing a Proportional-Integral-Derivative (PID) controller in order to maintain the displacement gap. Stable responses from both simulation control and experiments indicated that the PID controller can be employed to control the gap between the magnet and the levitated object. However, the results of the repulsive maglev control show faster response and smaller steady state error in comparison with the attractive maglev control

Ensemble Kalman Filter with a Square Root Scheme (EnKF-SR) for Trajectory Estimation of AUV SEGOROGENI ITS

Results of a study on the development of navigation system and guidance for A UV are presented in this paper. The study was carried to evaluate the behavior of A UV SEGOROGENI ITS, designed with a characteristic length of 980 mm, cross-section diameter of i80 mm, for operation in a 3.0 m water depth, at a maximum forward speed of 1.94 knots. The most common problem in the development of AUVs is the limitation in the mathematical model and the restriction on the degree of freedom in simulation. in this study a model of linear system was implemented, derived from a non-linear system that is linearized utilizing the Jacobian matrix. The linear system is then implemented as a platform to estimate the trajecto1y. in this respect the estimation is carried out by adopting the method of Ensemble Kalman Filter Square Root (EnKFSR). The EnKF-SR method basically is developedfrom EnKF at the stage of correction algorithm. The implementation of EnKF-SR on the linear model comprises of three simulations, each of which generates 100, 200 and 300 ensembles. The best simulation exhibited the error behveen the real tracking and the simulation in translation mode was in the order of 0. 009 m/s, whereas in the rotation mode was some 0. 00 I radls. These fact indicates the accuracy of higher than 9 5% has been achieved. Copyright© 2015 Praise Worthy Prize S.r.l

Multistage Rule-Based Positioning Optimization for High-Precision LPAT

This paper proposes a multistage rule-based precision positioning control method for the linear piezoelectrically actuated table (LPAT). During the coarse-tuning stage, the LPAT is actuated by coarse voltage schemes toward the target of 20 μm at a higher velocity, and during the fine-tuning stage, it is steadily and accurately driven by the fine voltage scheme to reach the target position. The rule-based method is employed to establish the control rules for the voltages and displacements of the two stages using statistical methods. The experimental results demonstrate that the proposed control method can quickly reach steady state, and the steady-state error can be reduced to less than or equal to 0.02 μm for small travel (±0.1 μm) and large travel (±20 mm)

Experimental approached optimisation of a linear motion performance with grey hazy set and Taguchi analysis methods (GHST) for ball-screw table type

In end effect to control a path, tracking, or cutting motion of CNC milling machine or other applications of machine tools, controlling its actuator, specifically a linear table motion, becomes a classical matter to be solved in industries. By applying an optimisation of grey hazy set Taguchi (GHST) analysismethods, itmight get a performance improvement of a linear motion of ball-screw table type. In this paper, it is aimed to enhance on multi-performance characteristics, namely, displacement, velocity and torque. An improvement of an average error of position accuracy is from the 0.2100 to 0.0137 mm (S/N ratio from 13.4023 to 37.1935 dB). Average error of position time is significantly improved from 0.1599 to 0.0293 s (S/N ratio from 15.9229 to 29.9305 dB). The average error of torsion standard deviation from 0.0924 Nm is improved to 0.0481 Nm (S/N ratio from 20.5970 to 26.3447 dB). This study indicated that GHST analysis approach might be applied successfully to table motion performance optimisation, which is determined by many parameters at multi-quality performance

Experimental PC based TGPID control method for 2D CNC machine

An important problem in the control of circular motion of CNC machine is to let X and Y axes move simultaneously. This article addresses this problem for the performance of desktop-scale CNC milling machine for reducing roundness error (REB), minimizing position time difference (DTt). An approach that can solve those problems will be introduced. Our approach uses a Taguchi–Grey System–Proportional Integral Derivative (TGPID). This method emphasizes an improvement of system performance through this controller’s robustness, such as a faster initialization in gaining as appropriate local minima and also high responsive. In this paper, it is aimed to enhance on multi-performance characteristics, namely actual radius (R_act) and position time (Tt). The improvement of roundness error in counter-clockwise (CCW) direction is from 0.151 mm by default, being 0.140 mm by TPID (Taguchi–PID; without grey system), and 0.133 mm by TGPID. The method can reduce the roundness error significantly, also the difference of position time for 100%. This proposed method also offers a simple experimental-based approach. An improvement of its performance indicated that this proposed approach is applied successfully to multi-linear motion performance optimization which is determined by many parameters at multi-quality performances. Performances of the proposed controller scheme, as well as some practical design aspects, are demonstrated by the control of a circular motion of CNC machine