Depth Control of Unmanned Free-Swimming

Submersible (UFSS)
Vehicle
 Problem statement

The depth of the UFSS vehicle is controlled as follows. During forward

motion, an elevator surface on the vehicle is deflected by a selected
amount. This deflection causes the vehicle to rotate about the pitch
axis. The pitch of the vehicle creates a vertical force that causes the
vehicle to submerge or rise. The UFSS vehicle steers via the heading
control system. A heading command is the input. The input and
feedback from the submersible’s heading and yaw rate are used to
generate a rudder command that steers the submersible
.
 Sub task 1
The sub-task 1 is divided into following parts:

1 Closed-loop transfer function using block diagram reduction

2 State-space representation in phase-variable, observer canonical
and controller canonical form
3Plot of the open-loop and closed loop response to a step input.
4 Find the range of preamplifier gain required to keep the closed-
loop system stable. Let 𝐾2 = 1
Simulink model
Step Response
 Designing of PD controller
A PID controller is an instrument used in industrial control
applications to regulate temperature, flow, pressure,
speed and other process variables. PID (proportional
integral derivative) controllers use a control loop feedback
mechanism to control process variables and are the most
accurate and stable controller
Effects of increasing a parameter
independently
Result
 Sub Task 2

The sub task 2 is divided into following parts

1. Without rate feedback i.e. 𝐾2 = 0 for the UFSS vehicle Pitch
Control System,
a. Plot the root locus for the system as a function of pitch gain 𝐾1
b. Estimate the settling time and peak time of the closed-loop
response with 20% overshoot
c. Let 𝐾2 = 𝐾1 i.e. add rate feedback and repeat step a, b
 Root locus
• Construction of Root Locus
• Rule 1 − Locate the open loop poles and zeros in the 's'
plane.
• Rule 2 − Find the number of root locus branches.
• Rule 3 − Identify and draw the real axis root
locus branches.
• Rule 4 − Find the centroid and the angle of asymptotes.
• Rule 5 − Find the intersection points of root
locus branches with an imaginary axis
 Future Prospects
Control systems are an integral part of almost every engineering and
physical system and thus their accurate analysis is of utmost
importance. Traditionally, control systems are analyzed using paper-
and-pencil proof and computer simulation methods, however, both of
these methods cannot provide accurate analysis due to their inherent
limitations. Model checking has been widely used to analyze control
systems but the continuous nature of their environment and physical
components cannot be truly captured by a state-transition system in
this technique.
 Conclusion/Analysis
• Unmanned Free-Swimming (UFSS) as shown in figure.
The depth of the vehicle is controlled as during forward
motion, an elevator surface on the vehicle is detected by
a selected amount. This deflection causes the vehicle to
rotate about the pitch axis. The pitch of the vehicle
creates a vertical force that causes the vehicle to
submerge or rise.
 References

• JS. Saad Azhar Ali & Fouad M. Al-Sunni & Muhammad Shafiq &
Jamil M. Bakhashwain. (2010). U-model based learning
feedforward control of MIMO nonlinear systems. Electrical
Engineering, Vol. 91, No. 8, page numbers (405-415).

• Control systems engineering by Norman S. Nise, Seventh Edition