MINISTRY OF EDUCATION AND TRAINING MINISTRY OF NATIONAL DEFENSE ACADEMY OF MILITARY SCIENCE AND TECHNOLOGY PHAM VAN PHUC DESIGN THE ALGORITHMS TO DETECT THE POSITION, STATUS AND CONTRO
Trang 1MINISTRY OF EDUCATION AND TRAINING MINISTRY OF NATIONAL DEFENSE
ACADEMY OF MILITARY SCIENCE AND TECHNOLOGY
PHAM VAN PHUC
DESIGN THE ALGORITHMS TO DETECT THE POSITION, STATUS AND CONTROL THE MOVEMENT OF UNDERWATER VEHICLES
Major: Control Engineering and Automation
Code: 9 52 02 16
SUMMARY OF PhD THESIS IN ENGINEERING
HA NOI – 2019
Trang 2ACADEMY OF MILITARY SCIENCE AND TECHNOLOGY
Scientific Supervisors:
1 Assoc Prof Dr Tran Duc Thuan
2 Dr Nguyen Quang Vinh
Review 1: Assoc Prof Dr Pham Tuan Thanh
Military Technical Academy
Review 2: Assoc Prof Dr Luu Kim Thanh
Vietnam Maritime University
Review 3: Assoc Prof Dr Nguyen Quang Hung
Academy of Military Science and Technology
The thesis was defended in front of the Doctoral Evaluating Committee at Academy level held at Academy of Military Science and Technology at ………/………, 2019
The thesis can be found at:
- The Library of Academy of Military Science and Technology
- Vietnam National Library
Trang 3THE SCIENTIFIC PUBLICATIONS
1 Pham Van Phuc, Nguyen Quang Vinh, Nguyen Đuc Anh, (2015), “ A system for positioning underwater vehivles based on combination of IMU and Doppler speed measument enquipment”, The 3rd
Vietnam Conference on Control and Automation, pp 37-42
2 Pham Van Phuc, Truong Duy Trung, Nguyen Quang Vinh, (2016), “
Control of the motion orientation and the depth of underwater vehicles by use of the neural network”, JMST, Academy of Military
Science and Technology, Special number of Rocket, pp.15-22
3 Pham Van Phuc, Nguyen Quang Vinh, (2017), “The nonlinear control of underwater vehicles using hedge algebras”, JMST,
Academy of Military Science and Technology, Vol 51, pp.40-45
4 Pham Van Phuc, Tran Duc Thuan, Nguyen Viet Anh, Nguyen Quang
Vinh, (2018), “An algorithm for determination the location and position for underwater vehicles”, JMST, Academy of Military
Science and Technology, Vol 56, pp.03-13
5 Pham Van Phuc, Tran Duc Thuan, Nguyen Quang Vinh, (2018), “A dynamics model of underwater vehicle” JMST, Academy of Military Science and Technology, Vol 58, pp 14-20
6 Nguyen Quang Vinh, Pham Van Phuc, (2018), “Control of the motion orientation of autonomous underwater vehicle” XIIIth International Symposium «Intelligent Systems», INTELS’18, 22-24 October 2018, St Petersburg, Russia Procedia Computer Science
2018, pp.192-198
7 Pham Van Phuc, Nguyen Quang Vinh (2019), “Construction of a
backstepping controller for controlling the depth motion of an
automatic underwater vehicle” The 4 th
International Conference on Research in Intelligent and Computing in Engineering, 8-9 August
2019, Hanoi, VietNam ( Đã có xác nhận đăng)
Trang 5INTRODUCTION
1 The necessity of the thesis
Vietnam is a country with long maritime border and the East Sea region plays a strategic role especially in marine combat and defense,
as well as connecting with international maritime routes Nowadays, exploration and exploitation of marine resources is highly concerned
in many countries That makes the maritime disputes among countries becom complicated and consequently threatening the sovereignty, country security and maritime safety of the region and the world
Therefore, it is an urgent requirement to develop combined weapons that effectively counteract sea attacks in our marintime territory It is also nessesary to equip underwater vehicles that effectively serve the reconnaissance and guard mission as well as, the exploration, exploitation of our marine resources
Underwater Vehicles (UV) in the official force of the Navy are mainly submarines and anti-submarine weapons such as torpedoes, anti-submarine missiles There are also small underwater robots that are used for search rescue and ocean exploration
The essential components of the UV's control structure are the navigation system and the control system The navigation system conducts the positioning and navigation functions to determine the position and posture of the UV and then create desired trajectory for the UV to follow The control system sends instant control signals that allow the UV to move in the desired trajectory
Until now, there are many reports on the studying and developing the Autonomous Underwater Vehicle (AUV) navigation and control systems for both military and civilian purposes, as in [3], [16], [17] These studies have solved some problems in dynamics, motion control of AUV and Remotely Operated Underwater Vehilce (ROV) using traditional control theory The results of the study [17] suggested the addition the inertial guidance equipment as well as design an adaptive neuron controller to guide and control anti-
Trang 6submarine weapons However, in order to efficiently apply the above results on solving the stability and control problems for AUV, it is necessary to develop better appropriate controllers and algorithms Over the world, there are many countries interested in developing AUVs with devices for navigation and control However,
it is difficult for local researchers and system integrators to access this resource, if any, it is in an improper form with implicit algorithms
The above analysis shows the complication of the AUV navigation and control problem and the urgency to solve those problem, especially for the military applications The requirement of having a modern People's Navy force demands, deep understaning
of the armed weapons and the ablity to repair, improve, upgrade and manufacture new weapons and underground vehicles Therefore, the
thesis:''Design the algorithms to detect the position, status and control the movements of underwater vehicles '' is conducted in
order to contribute to solve the practical problems of the exploitation and manufacture of underwater vehicles
2 Research objectives of the thesis
Summarize the algorithms to determine position, status and the algorithms to control motion trajectories for an underwater vehicle category
3 Subjects and scope of research
Research object of the thesis: Control system of an Autonomus Underwater Vehicle (AUV) with basic specifications as follows: the total weight of AUV is 20 kg; 1600mm length; 300mm width; velocity 0.2m/s;100m diving depth; operation time is 10 hours
4 Research methodology
Research methodology of the thesis: The research combines the theoretical method and the numerical method
5 Scientific significance and practical meaning of the thesis
- The research result of the thesis contributes to provide the scientific knowledge for other research and education in the stability
Trang 7system, controlling the movement trajectory of the underwater vehicle and the related fields
- The results of the thesis can be applied to improve and modernize the existing underwater vehicles as well as design and manufacture new underwater vehicles
6 The structure of the thesis
The whole thesis is 109 pages divided in to 4 chapters along with the Introduction, Conclusion, List of published scientific works, References and Appendix
CHAPTER 1: OVERVIEW OF THE UNDERWATER
DEVICES AND RESEARCH PROBLEMS ON KINEMATICS, POSITIONING AND CONTROL
OF UNDERWATER DEVICES
1.1 Overview of the underwater vehicle
The underwater vehicles began to appear in the early 19th century
at the University of Washington and have made great achievements during the past decades Currently, the underwater vehicles are widely used in many different civilian and military tasks such as objective monitoring, exploration and exploitation of marine resources, oceanographic survey, disaster warning, search and rescue, handling landmines, cleaning contaminated water environment [3]
Based on the degree of man involve menton the conduction of underwater vehicles, the underwater vehicles are divided into two catergories, unmanned underwater vehicles and the unmanned underwater vehicles, in which the unmanned underwater vehicles are divided into remotely underwater vehicle (ROV) and autonomous underwater vehicle (AUV) [14] The difference between AUV and ROV is: ROV is connected to the control center with cable or an audio link in the form of sound waves Connecting cables ensure the providing of information and control signals, in this way the operator can continuously grip and control the vehicle using to the predictable programs
Trang 8The underwater vehicle mentioned in this thesis is an AUV that move three-dimensional space in the water by a pushing system This AUV can be used in ocean research and exploration,
reconnaissance, guard mission in the defined sea region
1.2 Kinetics and dynamics for underwater vehicles
1.2.1 Reference systems
1.2.1.1 N-frame system
N-frame system is a reference system associated with the earth; the selected reference origin coincides with the starting point of the underwater vehicle Attached to this n-frame system, a Decartes coordinate system deals with the origin of the coordinate with the
reference root, the axis xof the N-frame system to the geographic Northern direction, the axis yof the N-frame system to the geographic Eastern direction, axis xand axisy form a tangent plane to
the Earth's surface
1.2.1.2 B-frame system
B-frame system is a reference system attached to the selected reference object and the origin coincides with the center root of the gravity of the underwater vehicle Attached to the b-frame system, the coordinate system with the origin of the coordinate coincides with the reference origin, the vertical axis 0 Xb bis directed vertically
of the underwater vehicle, the axis 0 Xb bis directed downwards and the axis 0 Yb bis directed horizontally that forms the positive triangle
1.2.1.3 Converting the coordinate system by Ơle corner method
Performing coordinate rotations to convert from the coordinate system linked to the geographical coordinate system with the direction C b nof the Cosin matrix shown in the following form:
, , ,
Z Y X n
b
C R R R (1.5) The corners , , are called the Ơle corners Matrix C b nis an orthogonal matrix so it can convert a vector from a geographic coordinate system to a linked coordinate system by a transfer matrix:
Trang 9
1 , , ,
C C C R R R (1.6)
1.2.2 Kinetic model of AUV
The movement of AUV is 6-free-degree movement including 3 vertical movements along 3 orthogonal axes X Y, , Zand 3 rotational movements around each axis
D D D is a hydrodynamic damping matrix6 6 ;D l( )
represents linear damping quantity;D q( ) is nonlinear damping quantity;g( ) is vector 6 1 of gravitational force; are forces and floating moments is the control force vector / torque of the input
1.3 The positioning and status for moving vehicles
In water, the electromagnetic wave is absorbed; UV can not receive the signal directly from the GPS to deal the drift of the measuring elements for the INS device Therefore, it is necessary to use additional information from fixed or mobile buoys on the sea surface to determine the exact position and status of AUV (in case of using mobile buoys, a satellite navigation device must be attached on
Trang 10the buoy to determine the location and information of coordinates updated for UV)
1.4 Studies on control for underwwater vehicles
It had been known, designing control systems for AUV faces many difficulties because it must be closely connected with dynamic models So far, there are many different control methods to design precise motion control system for AUV such as PID control, adaptive, sliding mode, neural network…
to efficiently exploit the existing UVs (mainly the imported) and even manufacture and design new UV, it is necessary to investigate the problems related to UV including Navigation and movement control of underwater vehicles
2 Navigation of UV differs from that of others in space, on the ground, and in water (rivers, lakes and ocean) Therefore, in-depth research is required to provide the scientific infomation for futher the exploitation and design as well as manufacture the navigation and motion control systems for underwater vehicles
3 In order to improve the quality of motion control for UV, it is important to study the control nature of UV, new equipments in Vietnam and to use the modern the oretical control tools to design the control algorithms for UV This will serve as basis infomation to develop softwares for UV control system
CHAPTER 2: DESIGN THE ALGORYTHM TO DETECT
THE POSITION AND STATUS FOR UV
Trang 112.1 Sound wave navigation methods
2.1.1 Long Base Line method (LBL)
The Long Base Line (LBL) method uses a set of sound transceivers fixed known coordinates on the seabed surface The signaldata from the underwater vehicle to a defined transceivers with
3 or more distances is used calculate the position of the underwater vehicle At that time, the underwater vehicle emits sound signals and receives feedback signals from these sonar (sound navigation and ranging) floats
2.1.2 Short Base Line method (SBL)
Short Base Line (SBL) system uses a sequence of at least 3 transceivers mounted on the underwater vehicle, the distance between the receivers is about 10 to 50m, the fixed receiver - transmitter on the seabed has a predetermined position In addition to identifying the distance from the object to the transceivers, the system can also determine the direction based on the comparison of the delay time of the signal sent to the transceivers
2.1.3 Unlike Short Base Line method USBL(USBL)
Unlike Short Base Line system, transceivers are designed and arranged in a single transceiver that allows easy and convenient installation for small-sized underwater vehicel The USBL uses a series of small transceiver elements with different layout schemes to determine the distance and azimuth of the response transmitter mounted on objects need to locate
2.2 Design the algorithm to detect the position for UV
The center of underground vehicle block coordinates (coordinate pointO '-origin of coordinate systemO x y z' ' ' ') is called ( , , )x y z ,1
D is called the distance between the undergwater vehicle and buoy No.1 (the origin of the coordinate systemOxyz), D2, D3are the distance measured between the center of mass vehicles and buoys No.2 and 3, respectively
Trang 12Figure 2.4.Navigation method for the underwater vehicle
From algorythm we have the following equations:
1
x y z D (2.1)
(xx ) y z D (2.2)
(xx ) (yy ) z D
(2.3) Apply Newton-Raphson algorythm from three equations (2.1), (2.2), (2.3) we setup new three equations:
f x y z x y z D (2.8)
(2.9)
f x y z xx yy z D (2.10) Deployment of partial derivatives for functions (2.8), (2.9), (2.10) setup of the Jacobi matrix form (2.6) and replace (2.11),(2.12),(2.13) into (2.14) we have the following equation:
Trang 13Choose the initial valuex(0); y(0), z(0)for the process of retrieving an arbitrary set of values, then using 3 retrieval expressions (2.17), (2.18), (2.19) to determine the solution of equations (2.1), (2.2), (2.3), callx *, y*, z * is the block center coordinates of the underwater vehicle (the retrieval result), it is the position of the Autonomous Underwater Vehicle to determine
2.3 Set up algorithms to determine the position for AUV
Determining the position of the underwater vehicle compared to the navigation system is, in fact, aimed to find the relationship between the coordinates Oxyzand the coordinate systemO x y z' ' ' '
Since the buoy No.1 is used as the origin of the coordinates, with buoy No.2 from the set of variables (2.29), (2.30) implement (2.28) get 3 equations:
According to [15] the only Cosine matrix has a nature:
AAT I , (2.41)
Trang 14in which AT is the transposaed matrix of the matrix, A, I is the unit
According to the variable set in section 2.3, it proceeds to setup
the Jacobi matrix and its inverse matrix, then performs the solution
of the nonlinear equation system by Newton-Raphson method to find
the solution of the system of equations Selecting an initial set of
values x1(1), x2(1), x3(1), x4(1), x5(1), x6(1), x7(1), x8(1), x9(1) for the
process of retrieving an arbitrary set of values, then using 9 retrieval
expressions from (2.52) to (2.60) to determine the system of
equations (2.49) These are the parameters to find the status
description of AUV
2.4 Conclusion of Chapter 2
1 The navigation of UV differs from that of otherson the water
surface (in case of signals of satellite navigation systems) and this
issue is new in Vietnam
2.With transceivers installed on fixed or mobile buoys, it is
possible to solve the problem of navigation for UV From the
problems solved in this chapter, it showed the essential features of
ultrasonic transceivers placed on buoys and UV These are the
orientational issues for the design and manufacture of UV and their
security systems
3 The application of mathematical solutions, Newton-Raphson
retrieval method for solving the nonlinear equation system had
contributed to design the algorithms of navigation information
(center coordinates and status) for the UV using the exchanged
information among buoys and ultrasonic waves This new result is
published in the work [04] of the author
The results of the thesis can be the basis scientific information
for the exploitation and operation of imported UV as well as for
designing and manufacturing of navigation systems