Simulación del sistema de control para un vehículo subacuático operado remotamente
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AutorRúa Pérez, Santiago
This work addresses the development of the simulation of the control system for the underwater remotely operated vehicle Visor3 using a nonlinear model of the vehicle. The 6-DOF (degrees of freedom) mathematical model of Visor3 is presented using two coordinated systems: Earth- xed and body- xed frames, and takes into account the inertia forces, centripetal and Coriolis forces and gravitational forces, and was implemented in Simulink R . Visor3 parameters were obtained using CAD models (Solid-Edge R software) and CFD simulation (ANSYS R software), within a work that was developed by a person in the J ovenes Investigadores program. The guidance, navigation and control structure (GNC) is divided into three layers: the high level or the mission planner; the mid level or the path planner; and the low level formed by the control, navigation system and sensors. This thesis addresses only the problem of the simulation of the low level control. A nonlinear model based observer is proposed for ...
Robot navigation; Navigation systems; Kalman lters; PID multi-loop control; LQR control; Thruster allocation.
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