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Wind-up AUVs: combined energy storage and attitude control using control moment gyros

Wind-up AUVs: combined energy storage and attitude control using control moment gyros
Wind-up AUVs: combined energy storage and attitude control using control moment gyros

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 batteries at all. In previous works, the authors developed an attitude control scheme based on the gyroscopic torques developed by a cluster of four CMGs, which was implemented onboard the test-bed AUV 'IKURA', and successfully demonstrated full three-dimensional attitude control capabilities. This paper extends the control scheme to overcome interactions between the kinetic energy and angular momentum stored in the CMG flywheels, to allow the energy mechanically stored in the rotation of the flywheels to power the electronics of the robot, while simultaneously controlling its three-dimensional attitude. The control scheme is implemented on a four unit CMG pyramid developed for IKURA and series of land experiments are performed to demonstrate simultaneous energy transfer and 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 (2008) Wind-up AUVs: combined energy storage and attitude control using control moment gyros. In Oceans 2007 MTS/IEEE Conference. pp. 1-9 . (doi:10.1109/OCEANS.2007.4449149).

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 batteries at all. In previous works, the authors developed an attitude control scheme based on the gyroscopic torques developed by a cluster of four CMGs, which was implemented onboard the test-bed AUV 'IKURA', and successfully demonstrated full three-dimensional attitude control capabilities. This paper extends the control scheme to overcome interactions between the kinetic energy and angular momentum stored in the CMG flywheels, to allow the energy mechanically stored in the rotation of the flywheels to power the electronics of the robot, while simultaneously controlling its three-dimensional attitude. The control scheme is implemented on a four unit CMG pyramid developed for IKURA and series of land experiments are performed to demonstrate simultaneous energy transfer and attitude control.

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More information

e-pub ahead of print date: 1 December 2007
Published date: 12 February 2008
Venue - Dates: Oceans 2007 MTS/IEEE Conference, Vancouver, BC, Canada, 2007-09-29 - 2007-10-04

Identifiers

Local EPrints ID: 434072
URI: http://eprints.soton.ac.uk/id/eprint/434072
PURE UUID: 6acc3f76-73f0-4f28-8848-07d67585d69e

Catalogue record

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

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