A4 Conference proceedings

Active Control of Surface Robot Position


Open Access publication

Publication Details
Authors: Gafurov Salimzhan, Mukhametzyanov Andrey, Salmina Vera, Handroos Heikki
Publication year: 2017
Language: English
Related Journal or Series Information: Proceedings of the International Congress on Sound and Vibration
Title of parent publication: Proceedings of the 24th International Congress on Sound and Vibration
Start page: 1
End page: 9
Number of pages: 9
ISBN: 978-1-906913-27-4
JUFO-Level of this publication: 0
Open Access: Open Access publication

Abstract

Nowadays ships are mostly used to provide seismic measurements in the ocean. But their own magnetic field does not allow to achieve a high accuracy of such measurements. The lack of reliable and accurate data on the structure of the seabed and seismic activity in the area of interest in the ocean is the main limiting factor that does not allow to increase the oil deposit ratio of wells in offshore. Nowadays this ratio is equal to 32% meanwhile oil deposit ratio in shelf is equal to 45%. Increasing by 1% of this ratio allow to increase oil well productivity by 20 million barrels. Marine surface robots can help to increase this ratio as they are able to operate in the water for a long time. They are cost and energy effective tool to provide seismic data in operating regime 24/7. This article briefly describes the construction and functionality of wave gliders. Considered robot consists of two modules - surface and underwater. They are connected by means of a cable. Robot underwater part consists of wing elements which convert the energy of the surface wave into the translational movement of the whole robot. Such robot construction leads to dependence of the robot on the waves. Waves cause undesirable movement of the whole robot, and as a result, the instability of robot motion, position and their accuracy. Such continuous disturbances do not allow to robot to hover on the water surface. Kinematics and dynamics models allow to design a reliable and robust control system to allow robot to hover on the water surface at a given point. A simplified two-links model is proposed in this paper for dynamic model development. Disturbances were considered in form of sinusoidal, progressive, flat and regular waves. The Stewart platform was used to simulate wave perturbations. Experimental test bench was developed to test provided control system and to estimate its accuracy.


Last updated on 2018-19-10 at 07:55