An integrated high-speed valve switching and pump output control scheme are developed for precision maneuvering of underwater vehicles. High-speed Coanda-effect valves combined with a centrifugal pump allow for precise control of thrust force using a unique pulse width modulation (PWM) control scheme, where both pulse width and pulse height are controlled in a coordinated manner. Dead zones and other complex nonlinear dynamics of traditional propeller thrusters and water jet pumps are avoided with use of the integrated pump-valve control. Three control algorithms for coordinating valve switching and pump output are presented. A simplified nonlinear hydrodynamic model of underwater vehicles is constructed, and design trade-offs between PWM frequency and pulse height, with regard to steady state oscillations, are addressed. The control algorithms are implemented on a prototype underwater vehicle and the theoretical results are verified through experiments.
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September 2013
Research-Article
Pulse Width Modulation of Water Jet Propulsion Systems Using High-Speed Coanda-Effect Valves Available to Purchase
Anirban Mazumdar,
Anirban Mazumdar
Graduate Research Assistant
e-mail: [email protected]
e-mail: [email protected]
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H. Harry Asada
H. Harry Asada
Ford Professor Mechanical Engineering Fellow ASME
e-mail: [email protected]
d'Arbeloff Laboratory for Information Sciences,
Department of Mechanical Engineering,
e-mail: [email protected]
d'Arbeloff Laboratory for Information Sciences,
Department of Mechanical Engineering,
Massachusetts Institute of Technology
,Cambridge, MA 02139
Search for other works by this author on:
Anirban Mazumdar
Graduate Research Assistant
e-mail: [email protected]
e-mail: [email protected]
H. Harry Asada
Ford Professor Mechanical Engineering Fellow ASME
e-mail: [email protected]
d'Arbeloff Laboratory for Information Sciences,
Department of Mechanical Engineering,
e-mail: [email protected]
d'Arbeloff Laboratory for Information Sciences,
Department of Mechanical Engineering,
Massachusetts Institute of Technology
,Cambridge, MA 02139
Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received September 23, 2012; final manuscript received April 24, 2013; published online July 18, 2013. Assoc. Editor: Yang Shi.
J. Dyn. Sys., Meas., Control. Sep 2013, 135(5): 051019 (11 pages)
Published Online: July 18, 2013
Article history
Received:
September 23, 2012
Revision Received:
April 24, 2013
Citation
Mazumdar, A., and Asada, H. H. (July 18, 2013). "Pulse Width Modulation of Water Jet Propulsion Systems Using High-Speed Coanda-Effect Valves." ASME. J. Dyn. Sys., Meas., Control. September 2013; 135(5): 051019. https://doi.org/10.1115/1.4024365
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