Depth Control of an Underwater Sensor Platform: Comparison between Variable Buoyancy and Propeller Actuated Devices
João Falcão Carneiro, João Bravo Pinto, Fernando Gomes de Almeida, Nuno A. Cruz
TL;DR
This paper compares two methods for controlling the depth of underwater robots: changing buoyancy or using propellers, focusing on energy use and control accuracy.
Contribution
The study introduces a detailed energy-aware model for depth control systems and evaluates PID controllers for optimizing energy and performance trade-offs.
Findings
Variable buoyancy systems offer better energy efficiency for long missions.
Propeller actuated devices provide faster and more accurate depth adjustments.
PID controllers can effectively manage trade-offs between energy consumption and control accuracy.
Abstract
Underwater long-endurance platforms are crucial for continuous oceanic observation, allowing for sustained data collection from a multitude of sensors deployed across diverse underwater environments. They extend mission durations, reduce maintenance needs, and significantly improve the efficiency and cost-effectiveness of oceanographic research endeavors. This paper investigates the closed-loop depth control of actuation systems employed in underwater vehicles, focusing on the energy consumption of two different mechanisms: variable buoyancy and propeller actuated devices. Using a prototype previously developed by the authors, this paper presents a detailed model of the vehicle using both actuation solutions. The proposed model, although being a linear-based one, accounts for several nonlinearities that are present such as saturations, sensor quantization, and the actuator brake model.…
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Taxonomy
TopicsUnderwater Vehicles and Communication Systems · Wave and Wind Energy Systems · Ship Hydrodynamics and Maneuverability