سال انتشار: ۱۳۹۰

محل انتشار: نوزدهمین کنفرانس مهندسی برق ایران

تعداد صفحات: ۶

نویسنده(ها):

Morteza Eftekharzadeh – Islamic Azad University of Khomeini Shahr
Mohammad Danesh – Department of Mechanical Engineering, Isfahan University of Technology

چکیده:

This paper presents a nonlinear control system based on state observer for underwater vehicle thrust control. For this purpose first nonlinear thrust and torque models is approximated with a quasi-steady state. Then dynamic equations are represented by using a three-state model of propeller shaftspeed, forward speed of the vehicle, and the axial flow velocity. At this stage, a control system including nonlinear observer for estimation of axial flow velocity and a nonlinear shaft speedcontroller for compensation of thrust losses is presented. Stability is proven in the framework of Lyapunov stability theory. The proposed control system is simulated for an underwater vehicle that shows high performance compared with a control system ithout observer for axial flow velocity