Accession Number : ADA303035

Title :   Design of a Hover Mode Autopilot for the Phoenix Autonomous Underwater Vehicle.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Gonzalez, Juan C., Jr

PDF Url : ADA303035

Report Date : JUN 1995

Pagination or Media Count : 120

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)

Descriptors :   *UNDERWATER VEHICLES, *AUTOMATIC PILOTS, VELOCITY, COMPUTER PROGRAM DOCUMENTATION, MATHEMATICAL MODELS, COMPUTERIZED SIMULATION, SOFTWARE ENGINEERING, ROBOTICS, EQUATIONS OF MOTION, COMPUTER AIDED DESIGN, MATRICES(MATHEMATICS), EFFICIENCY, THESES, DEGREES OF FREEDOM, TRANSFORMATIONS(MATHEMATICS), SELF OPERATION, CONTROL THEORY, EULER EQUATIONS, DESIGN CRITERIA, REMOTELY PILOTED VEHICLES, THRUSTERS, REMOTE CONTROL, MARINE PROPELLERS, HOVERING, OBJECT ORIENTED PROGRAMMING.

Subject Categories : Submarine Engineering
      Underwater and Marine Navigation and Guidance

Distribution Statement : APPROVED FOR PUBLIC RELEASE