## Simulation results 41 Simulation condition

Let consider a first example as depicted in figure 8; in this simulation we want to control d near zero and z near -2 meter with 30 times counter duration. We use a reasonable amount of dive planes to do the job. Assumption: 4o dive planes when pitch angle deviates to 5o from zero, the AUV reaches a depth of -2 meter with 0.32 meter deviation. Therefore, we assume all terms in Q ^0 and R ^0, except: qu = (4/57.2958)-2=205.21, q44 = (5/57.2958)-2= 131.31, and r11= (0.32)-2=9.76, simulation result as illustrated in figure 8 using solid line. To overcome undershoot and overshoot in the runtime simulation, after duration of t = 4 seconds PC2 send new weighting matrices to the PC1 to change a pitch angle deviates to 5o with 0.02 meter deviation at -2 meter depth: qn=(4/57.2958)-2= 205.21, q44 = (5/57.2958)-2=131.31, r11= (0.02)-2=2500, simulation result as illustrated in figure 8 using dash line. The time response of both controller are equal for t < 4 seconds because of all parameters are same, by intervention from PC2 to PC1 when t > 4 seconds, the new control parameters are apply during runtime, then it could be seen that time response is improved significantly,

Fig. 8. Online Overshoot &Undershoot Suppression after 4 seconds 4.2 Simulation condition 2

Similar to the previous simulation, PC1 running the controller gain and system matrix with assuming all terms in Q ^0 and R ^0, except: qu = 205.21, q44 = 131.31, and Vu = 400, as illustrated in Figure 9 using solid line. To reduce the rise time duration in the runtime simulation, when t = 2 seconds PC2 send a new weighting matrices to the PC1 to change a pitch angle deviates to 10° from zero with 0.02 meter deviation at -5 meter depth: qu = 205.21, q44= 23.83, and Vu = 2500, as illustrated in figure 9 using dash line. In this case, a settling time response also improved easily during runtime when t > 2 seconds. It could be seen that time response is improve significantly.

Was this article helpful?

This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

Get My Free Ebook

## Post a comment