A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction
Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of st...
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2015/384105 |
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| author | Yin Zhao Ying-kai Xia Ying Chen Guo-Hua Xu |
| author_facet | Yin Zhao Ying-kai Xia Ying Chen Guo-Hua Xu |
| author_sort | Yin Zhao |
| collection | DOAJ |
| description | Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed control strategy is then proposed based on the sliding mode variable structure of fuzzy reaching law, according to nonlinearity and external variable load of the vehicle speed control system. Sliding mode variable structure control theory for the nonlinear system allows an improved control effect for movements in “sliding mode” when compared with conventional control. The fuzzy control theory is also introduced, weakening output chattering caused by the sliding mode control switchover while producing high output stability. Matlab mathematical simulation and practical test verification indicate the speed control method as effective in obtaining accurate control results, thus inferring strong practical significance for engineering applications. |
| format | Article |
| id | doaj-art-6dfe9a6ed51043e9b3c1837b47fe1a11 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-6dfe9a6ed51043e9b3c1837b47fe1a112025-02-03T01:27:46ZengWileyJournal of Control Science and Engineering1687-52491687-52572015-01-01201510.1155/2015/384105384105A Speed Control Method for Underwater Vehicle under Hydraulic Flexible TractionYin Zhao0Ying-kai Xia1Ying Chen2Guo-Hua Xu3School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaUnderwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed control strategy is then proposed based on the sliding mode variable structure of fuzzy reaching law, according to nonlinearity and external variable load of the vehicle speed control system. Sliding mode variable structure control theory for the nonlinear system allows an improved control effect for movements in “sliding mode” when compared with conventional control. The fuzzy control theory is also introduced, weakening output chattering caused by the sliding mode control switchover while producing high output stability. Matlab mathematical simulation and practical test verification indicate the speed control method as effective in obtaining accurate control results, thus inferring strong practical significance for engineering applications.http://dx.doi.org/10.1155/2015/384105 |
| spellingShingle | Yin Zhao Ying-kai Xia Ying Chen Guo-Hua Xu A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction Journal of Control Science and Engineering |
| title | A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction |
| title_full | A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction |
| title_fullStr | A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction |
| title_full_unstemmed | A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction |
| title_short | A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction |
| title_sort | speed control method for underwater vehicle under hydraulic flexible traction |
| url | http://dx.doi.org/10.1155/2015/384105 |
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