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Carlsson, Hannes (2017)
Publisher: KTH, Reglerteknik
Languages: English
Types: Bachelor thesis
The SEAL Carrier is a hybrid marine vessel capable of traveling both fast on the water surface and completely submerged.Due to the craft's hydrodynamical properties it is taxing on the pilots to keep the SEAL Carrier at a certain depth for longer periods of time, therefore it is desirable to have a depth controller. A model was developed to describe the forces from the actuators and the depth, pitch and speed controlled through a PI controller using a backstepping approach. The resulting controller was implemented and validated in Simulink and, as there exist a Simulink model of the craft, also tested and tuned. The Simulink implementation was turned into C++ code in order to be implemented on board the SEAL Carrier.The simulations provide promising results, though further tests should be performed to ensure the robustness of the controller, as the Simulink model has difficulties capturing all of the dynamics of the craft. SEAL Carrier är en marin hybridfarkost med förmåga att färdas både på snabbt på ytan såväl som under vattnet. På grund av farkostens hydrodynamiska egenskaper är det ansträngande för piloterna att hålla den vid ett visst djup under en längre tid, därför vore en djupregulator önskvärd. En model utvecklades för att beskriva krafterna från aktuatorerna och medelst en backstepping metod har djupet, pitchen och hastigheten regulerats med en PI regulator. Den resulterade regulatorn implementerades och verifierades i Simulink och, eftersom att det finns en Simulinkmodel av farkosten, testades den även och bra parametervärden hittades. Från den implementerade Simulinkmodelen genererades C++ kod för vidare implementation ombord på SEAL Carrier. Simuleringarna gav goda resultat. Men vidare tester krävs, bland annat gällande regulatorns robusthet, särskilt då simulinkmodelen inte fångar all dynamik hos farkosten.
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