Description: The Autonomous Underwater Vehicle (AUV) is a small submersible that is intended to provide scientists with low cost and appropriate time response capability in order to collect environmental data. Moreover, the motion of AUV can be described using 6 DOF differential equations of motion. These equations are developed using two coordinate frames: 1. The velocity components are 6: [u, v, w, p, q, r] (surge, sway, heave, roll, pitch, yaw) are defined in body-fixed frame. 2. The earth-fixed frame defines the corresponding positions and attitudes [x, y, z, q, 0, v]. You have to adopt a dual loop control with an inner pitch control loop and an outer depth control loop in order to design the heading and depth Attitude controller (regulator system control the depth and pitch) Body-fixed frame u, p Earth-fixed frame X,
Description: The Autonomous Underwater Vehicle (AUV) is a small submersible that is intended to provide scientists with low cost and appropriate time response capability in order to collect environmental data. Moreover, the motion of AUV can be described using 6 DOF differential equations of motion. These equations are developed using two coordinate frames: 1. The velocity components are 6: [u, v, w, p, q, r] (surge, sway, heave, roll, pitch, yaw) are defined in body-fixed frame. 2. The earth-fixed frame defines the corresponding positions and attitudes [x, y, z, q, 0, v]. You have to adopt a dual loop control with an inner pitch control loop and an outer depth control loop in order to design the heading and depth Attitude controller (regulator system control the depth and pitch) Body-fixed frame u, p Earth-fixed frame X,
Elements Of Electromagnetics
7th Edition
ISBN:9780190698614
Author:Sadiku, Matthew N. O.
Publisher:Sadiku, Matthew N. O.
ChapterMA: Math Assessment
Section: Chapter Questions
Problem 1.1MA
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![Description:
The Autonomous Underwater Vehicle (AUV) is a small submersible that is intended to
provide scientists with low cost and appropriate time response capability in order to
collect environmental data.
Moreover, the motion of AUV can be described using 6 DOF differential equations of
motion. These equations are developed using two coordinate frames:
1. The velocity components are 6: [u, v, w, p, q, r] (surge, sway, heave, roll, pitch, yaw)
are defined in body-fixed frame.
2. The earth-fixed frame defines the corresponding positions and attitudes [x, y, z, q, 0,
v).
You have to adopt a dual loop control with an inner pitch control loop and an outer depth
control loop in order to design the heading and depth Attitude controller (regulator
system to control the depth and pitch)
W, r
Body-fixed frame
и, р
Earth-fixed frame
Part 1:
1- Find the dynamic equations of motion for the sukmarine in order latain ite
transfer function.
ces)
2- Draw une schematic of the closed-loop system that describes the dynamic
behavior of the system? (lein- **
Part 2:
1- Use only P controller with gain Kp for the system and then what is the value of
Kp that make the crror steady state in the accepted range?
2- Draw the Root Locus and then find all the parameters that are necessary tor that?](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2Fa669d21a-d8c7-48dc-9a15-d13e96d79b30%2F29a83502-8d09-410b-a0c3-9e30b05ba941%2F0g98blk_processed.jpeg&w=3840&q=75)
Transcribed Image Text:Description:
The Autonomous Underwater Vehicle (AUV) is a small submersible that is intended to
provide scientists with low cost and appropriate time response capability in order to
collect environmental data.
Moreover, the motion of AUV can be described using 6 DOF differential equations of
motion. These equations are developed using two coordinate frames:
1. The velocity components are 6: [u, v, w, p, q, r] (surge, sway, heave, roll, pitch, yaw)
are defined in body-fixed frame.
2. The earth-fixed frame defines the corresponding positions and attitudes [x, y, z, q, 0,
v).
You have to adopt a dual loop control with an inner pitch control loop and an outer depth
control loop in order to design the heading and depth Attitude controller (regulator
system to control the depth and pitch)
W, r
Body-fixed frame
и, р
Earth-fixed frame
Part 1:
1- Find the dynamic equations of motion for the sukmarine in order latain ite
transfer function.
ces)
2- Draw une schematic of the closed-loop system that describes the dynamic
behavior of the system? (lein- **
Part 2:
1- Use only P controller with gain Kp for the system and then what is the value of
Kp that make the crror steady state in the accepted range?
2- Draw the Root Locus and then find all the parameters that are necessary tor that?
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