Published
Manoeuvre test simulation of a teleoperated robot designed for flow measurement in natural water bodies
Simulación de pruebas de maniobra para un robot teleoperado diseñado para medir caudales en cuerpos de agua naturales
DOI:
https://doi.org/10.15446/ing.investig.v32n3.35945Keywords:
Teleoperated-aquatic-robot, simulation, mathematical-model, ship-manoeuvre, PWM-function (en)Robot-acuático-teleoperado, simulación, modelos-matemáticos, maniobras-de-barcos, función de PWM (es)
This article describes the simulation results of manoeuvring operations used in ships, but applied to an SA-1 teleoperated aquatic robot. The SA-1 is a type of robot designed for flow measurement in natural water bodies (rivers, lakes). A robot's dynamic stability and course stability must be guaranteed due to the different tasks assigned to it. These features can be demonstrated through the pull-out manoeuvre, the Dieudonné spiral manoeuvre, modified Kempf manoeuvre and turning circle manoeuvre. System behaviour when using such manoeuvres can be used to propose a better control system for improving robot performance or modify system design.
En este artículo se describe el resultado de los ensayos de simulación de maniobras que son empleadas en buques aplicadas en un robot acuático teleoperado llamado SA-1 (sistema de aforo 1) con la finalidad de determinar su estabilidad y capacidad de maniobra. El SA-1 es un robot diseñado para la medición de flujo en cuerpos de agua naturales (ríos, lagos, etc.), entre otras tareas importantes. Debido a las actividades que el robot tiene que realizar es importante que este sistema presente tanto estabilidad dinámica como de rumbo, capacidades que pueden ser determinadas mediante la maniobra de salida (conocida como pull-out), la maniobra de Dieudonné, la maniobra de Kempf revisada y la maniobra de giro (turning circle). Con los resultados de estas maniobras es posible proponer un sistema de control que mejore la actuación del robot o modificar el diseño del sistema.
References
Amerongen J. V. Adaptive steering of ships. A model reference approach to improved maneuvering and economical course keeping. PhD Philosophy thesis, Delft University of Technology, 2005.
Ayza J., López J., Quevedo J. Modelización de la dinámica de un buque. Qüestió. Vol. 4. No. 3, 1980, pp. 137-146.
Fossen T. I. Guidance and control of ocean vehicles. London, England, John Wiley and Sons Ltd, 1994. pp. 5-48
Marí S. R. Maniobra de los buques. Madrid, Spain, Edicions UPC., 1995. pp. 63-122.
Segovia A., Zapata R., Lepinay P. Control PWM: Algunas Consideraciones de Diseño, ELECTRO 2003, Chihuahua, Chih., Octubre, 2003, pp. 17-22.
Triantafyllou S. M., Hover S. F. Maneuvering and control of ocean Vehicles. Department of Ocean Engineering. Massachusetts Institute of Technology. Cambridge, Massachusetts USA, 2003. pp. 152-160.
Tupper E. Introduction to naval architecture. London, England, Ed. Butterworth Heineman Publications, 2002. pp 209-252.
VanZwieten T. S. Dynamic simulation and control of an autonomous surface vehicle. MSc thesis, Atlantic University, Boca Raton, Florida, USA, 2003.
Velasco J. F., Rueda R. M. T., Lopez G. E., Moyano P. E. Mathematical model for govern control of ships. XXV Jornadas de Automática. Ciudad Real, España, 2004.
Yaw Tzeng C., Fen Chen J. Fundamental properties of linear ship steering dynamic models. Journal of Marine Science and Technology. Vol. 7, No. 2, 2008. pp. 79-88.
Dimensions
PlumX
Article abstract page views
Downloads
How to Cite
License
Copyright (c) 2012 Carlos Eduardo Díaz Gutiérrez, Jose Armando Segovia de los Ríos, Mayra P. Garduño Gaffare, Jorge S. Benítez Read
This work is licensed under a Creative Commons Attribution 4.0 International License.
The authors or holders of the copyright for each article hereby confer exclusive, limited and free authorization on the Universidad Nacional de Colombia's journal Ingeniería e Investigación concerning the aforementioned article which, once it has been evaluated and approved, will be submitted for publication, in line with the following items:
1. The version which has been corrected according to the evaluators' suggestions will be remitted and it will be made clear whether the aforementioned article is an unedited document regarding which the rights to be authorized are held and total responsibility will be assumed by the authors for the content of the work being submitted to Ingeniería e Investigación, the Universidad Nacional de Colombia and third-parties;
2. The authorization conferred on the journal will come into force from the date on which it is included in the respective volume and issue of Ingeniería e Investigación in the Open Journal Systems and on the journal's main page (https://revistas.unal.edu.co/index.php/ingeinv), as well as in different databases and indices in which the publication is indexed;
3. The authors authorize the Universidad Nacional de Colombia's journal Ingeniería e Investigación to publish the document in whatever required format (printed, digital, electronic or whatsoever known or yet to be discovered form) and authorize Ingeniería e Investigación to include the work in any indices and/or search engines deemed necessary for promoting its diffusion;
4. The authors accept that such authorization is given free of charge and they, therefore, waive any right to receive remuneration from the publication, distribution, public communication and any use whatsoever referred to in the terms of this authorization.
