NDLI: Automated Ballast Tank Control System for Autonomous Underwater Vehicles

Content Provider	IEEE Xplore Digital Library
Author	Woods, S.A. Bauer, R.J. Seto, M.L.
Copyright Year	1976
Abstract	Autonomous underwater vehicles (AUVs) are frequently used for deep-water ocean applications such as surveying and cable laying, where accurate control of vehicle depth and attitude is needed. The water level in the onboard ballast tanks is typically manually set for neutral buoyancy before each mission, while the vehicle is on the surface. The ballast tank contents are not normally adjusted to control vehicle depth and orientation while the AUV is in operation. As a result, vehicle trajectory and orientation is exclusively controlled using the vehicle's control surfaces during a mission. The challenges with controlling the depth and trim of an underwater vehicle include nonlinear hydrodynamic forces, as well as inherent time delays (latencies) associated with water tank level changes and valve adjustments. Furthermore, small changes in the location of the vehicle's center of gravity (i.e., due to the deployment of the AUV's payload equipment) can reduce the control authority of the AUV's control surfaces. To meet these challenges, this paper proposes two unique variable ballast system (VBS) control approaches. The first proposed VBS controller changes the weight of the AUV to help control vehicle depth and vertical (inertial) velocity. The second proposed VBS controller attempts to shift the center of gravity ^xG along the body-fixed x -(longitudinal)-axis to reduce depth and pitch angle error while restoring control authority to the bowplane and sternplane deflection fins. The ballasting system consists of two water tanks positioned aft and forward of amidships. The ballast tanks are then automatically filled or emptied of ocean water as desired. Numerical simulations have been carried out on a 2-D underwater vehicle simulator to test and compare the performance of the proposed ballast and fin deflection control systems. The simulation results show that, for the assumptions and conditions tested, the proposed controllers are capable of achieving a setpoint depth and pitch angle with minimal error by effectively utilizing the ballast tanks and deflection fins. As a result, the work presented in this paper helps increase the autonomy of large AUVs on long-duration missions.
Sponsorship	IEEE Oceanic Engineering Society
Starting Page	727
Ending Page	739
Page Count	13
File Size	3001671
File Format	PDF
ISSN	03649059
Volume Number	37
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Electronic ballasts Valves Adaptive control Mobile robots Underwater vehicles variable ballast system autonomous
Content Type	Text
Resource Type	Article
Subject	Ocean Engineering Mechanical Engineering Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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