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Combined energy storage and three-axis attitude control of a gyroscopically actuated AUV

Combined energy storage and three-axis attitude control of a gyroscopically actuated AUV
Combined energy storage and three-axis attitude control of a gyroscopically actuated AUV

This research develops a system to combine energy storage and attitude control functions in control moment gyros (CMGs) for application onboard autonomous underwater vehicles (AUVs). This is proposed as part of a hybrid energy storage system to allow AUVs to perform their missions with no chemical battery at all. A geometric study of the interactions between the kinetic energy and angular momentum stored in a CMG pyramid is performed. This forms the basis of a control algorithm that allows the energy mechanically stored in the rotation of the CMG flywheels to power the electronics of the robot, whilst simultaneously controlling its three-axis attitude. The proposed system is implemented onboard the CMG actuated AUV 'IKURA' and underwater experiments are performed to demonstrate combined energy storage and three-axis attitude control.

1-9
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
689db479-1520-4f32-bb7a-ed34b26b921f
Nose, Yoshiaki
0476398e-6755-4a4c-a434-86d89d641f5b
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
689db479-1520-4f32-bb7a-ed34b26b921f
Nose, Yoshiaki
0476398e-6755-4a4c-a434-86d89d641f5b

Thornton, Blair, Ura, Tamaki and Nose, Yoshiaki (2009) Combined energy storage and three-axis attitude control of a gyroscopically actuated AUV. In OCEANS 2008. pp. 1-9 . (doi:10.1109/OCEANS.2008.5151885).

Record type: Conference or Workshop Item (Paper)

Abstract

This research develops a system to combine energy storage and attitude control functions in control moment gyros (CMGs) for application onboard autonomous underwater vehicles (AUVs). This is proposed as part of a hybrid energy storage system to allow AUVs to perform their missions with no chemical battery at all. A geometric study of the interactions between the kinetic energy and angular momentum stored in a CMG pyramid is performed. This forms the basis of a control algorithm that allows the energy mechanically stored in the rotation of the CMG flywheels to power the electronics of the robot, whilst simultaneously controlling its three-axis attitude. The proposed system is implemented onboard the CMG actuated AUV 'IKURA' and underwater experiments are performed to demonstrate combined energy storage and three-axis attitude control.

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More information

e-pub ahead of print date: 15 September 2008
Published date: 30 June 2009
Venue - Dates: OCEANS 2008, Quebec City, QC, Canada, 2008-09-15 - 2008-09-18

Identifiers

Local EPrints ID: 434071
URI: http://eprints.soton.ac.uk/id/eprint/434071
PURE UUID: 05a07e2d-e2bc-4bec-8a99-7b8361e3b028

Catalogue record

Date deposited: 11 Sep 2019 16:30
Last modified: 11 Sep 2019 16:30

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