Design of a hover mode autopilot for the Phoenix autonomous underwater vehicle
Loading...
Authors
Gonzalez, Juan Cesar
Subjects
Advisors
McGhee, Robert B.
Healey, Anthony J.
Date of Issue
1995-06
Date
June 1995
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
The potential uses for autonomous underwater vehicles (AUV's) is gaining recognition by organizations world wide. As such, continuous research toward improving existing vehicles by seeking new designs and increasing efficiency is being funded by organizations that serve to benefit from the new technology. Some examples for which AUV's may be used include mine countermeasures, submerged structural repair or destruction, search and rescue, biological study, ocean floor and coastal survey. The goal of this thesis is to design an autopilot that will use a combination of both vertical thrusters, both horizontal thrusters, and the main screws simultaneously to control the NPS phoenix AUV's posture during hovering conditions and short transits. The control design is implemented and simulated using Common LISP object oriented programming language. The results of this thesis are favorable. Since this thesis presents only a basic approach to an autopilot design, it is believed by the author that with further improvements to the design presented, the existing hover made autopilot can eventually be upgraded with the resulting autopilot design. This upgrade would greatly increase the autopilots efficiency. (AN)
Type
Thesis
Description
Series/Report No
Department
Electrical Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funder
NA
Format
108 p.
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.