Automated Safe Control Of A Self-propelled Mine Counter Charge In An Underwater Environment
Free (open access)
305 - 313
The operation of a Self-propelled Mine Counter Charge (SMCC) in an underwater environment is exposed to disturbances of its movement. The main disturbances in this kind of environment are sea currents. Another difficulty in SMCC operation, particularly with automated control, is the nonlinear dynamics of the torpedo-shaped body of the SMCC. In this paper the automatic control system of a SMCC, called Gluptak, is presented, which can support the execution of a counter mine mission. Additionally, two control methods have been be presented that can interact with the sea current influence in the case of a lack of sea current measurement on board the SMCC. For the purpose of Gluptak’s control, the use of classical PD and artificial intelligence controllers have been considered, particularly with fuzzy data processing. A mathematical model of the SMCC and selected results of the numerical research are presented. Keywords: underwater vehicle, counter mine mission, automatic control, fuzzy logic.
underwater vehicle, counter mine mission, automatic control, fuzzy logic.