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Registration Number

0217U000576, 0115U000307 , R & D reports

Title

Development of theoretical foundations and software and hardware control multi-purpose maritime unmanned complex

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Head

Blintsov Volodymyr Stepanovich,

Registration Date

14-02-2017

Organization

National university of Shipbuilding named after admiral Makarov

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The object of the study is the processes of automated and automatic control of the multipurpose unmanned marine complex (MUMC) in the search mode, identification mode and the mode of characterization of mobile marine objects. The aim of the study is to provide the theoretical aspect of the solution to the problem of national importance - creation of a integrated system for monitoring underwater, surface and air situation in the territorial waters of Ukraine on the basis of a multipurpose unmanned marine complex with a highly effective system of automated and automatic control in real time. The methods and approaches to solving the tasks of the project are as follows: the theoretical foundations of the concept formation is used for developing the concept of constructing control systems for the MUMC, which includes underwater, surface and air components and operates under uncertainty of external disturbances and unsteadiness of spatial characteristics of the identified mobile marine objects; the systems approach is used for synthesizing structures of the multilevel automated and automatic control systems for the MUMC comprising underwater, surface and air components; the methods of synthesis of fuzzy and neural network regulators and the methods of synthesis of the neural network and analytical direct and inverse models of the elements of the controlled objects are used for the synthesis of the intelligent control systems for the MUMC; mathematical and computer modeling is used to test the effectiveness of the laws of control of the autonomous movement of the MUMC components and the laws of control of the grouped coordinated movement of the MUMC components under uncertainty of external disturbances and unsteadiness of spatial characteristics of the identified mobile marine objects; the methods of developing software and hardware, algorithmic and information support are used to create a test prototype of the MUMC control system; the methods of computer-aided design of computerized technical systems are used to create a functioning MUMC model as a part of the autonomous and tethered underwater vehicles; the methods of basin and offshore field tests are used for the experimental verification of the operating capacity and effectiveness of the synthesized control systems for the MUMC. The following scientific results have been obtained: the ways of implementation of the project of the development of a multipurpose unmanned marine complex for the benefit of Ukrainian organizations are studied; in particular, typical sea missions which should be performed by means of marine robotics are formulated, proposals for development of unmanned marine systems for the benefit of Ukrainian organizations are provided on the basis of cooperation of national scientific, design and production organizations, the structure of works on the development of such equipment is devised, the concept of development of the multipurpose tethered underwater systems with a centralized information exchange as a part of the MUMC is created; the concept of construction of the integrated system for monitoring underwater, surface and air situation in the territorial waters of Ukraine on the basis of the MUMC with automated and automatic control is developed; the foundations of the theory of real-time automated and automatic control are developed for the MUMC, which includes underwater, surface and air components, particularly: the control theory and methods of mathematical modeling of unmanned marine systems with flexible connections are improved; the theory of group control of unmanned marine systems is improved; the inverse dynamics method is improved by applying the principle of decomposition of the reference model, which makes it possible to synthesize the automatic control systems for underwater complexes, non-linear elements of which are set randomly; the automatic control system for the one-dimensional movement of an underwater vehicle as a part of an underwater complex is synthesized with the use of the inverse dynamics method based on the principle of decomposition of the reference model; the operating capacity of the received automatic control system is confirmed by means of computer modeling that allows applying the principle of decomposition for synthesis of automatic control systems for underwater complexes by the inverse dynamics method; the generalized structures of the automated and automatic control systems for the MUMC are synthesized, in particular, a generalized structure of the control system for the integrated system of the offshore robotic monitoring is developed, the control system is developed for a tethered underwater vehicle performing search and neutralizing marine operations, the automatic control system for the small-sized unmanned surface vessel as a MUMC component is enhanced; the software and hardware, algorithmic and information support is developed for the automated and automatic control system of the MUMC; in particular, the laws of control of the autonomous movement are synthesized for the movement of autonomous underwater vehicles, unmanned marine systems and tethered underwater vehicles as parts of the MUMC under uncertainty of external disturbances and unsteadiness of the spatial characteristics of the identified mobile marine objects; the laws of control of autonomous and grouped coordinated movement are established for the movement of self-propelled marine robotic vehicles viewed as the MUMC components under uncertainty of external disturbances and unsteadiness of the spatial characteristics of the identified mobile marine objects; the operating samples of the autonomous and tethered underwater vehicles as the MUMC agents are constructed and tested, and the documentation for their plant and marine field tests is devised; one underwater vehicle is passed on to the Ukrainian Navy for trial operation. The scientific novelty of the project is the improvement of the inverse dynamics method for creating control systems for mobile marine objects. Implementation of the present-day underwater problems is impossible without effective automatic control systems of the means of marine robotics. Such control systems should provide coordinated control of multiple nonlinear multidimensional objects, which include surface vessels, underwater vehicles, and flexible elements - tethers. The problems of control of the means of marine robotics are formulated as a set of problems of control of their components. The presence of a mechanical connection through the tethers between these components significantly complicates the problem of synthesis of automated and automatic control systems. One of the most powerful methods, which makes it possible to synthesize automatic control systems for complex nonlinear objects, is the inverse dynamics method. The inverse problem of dynamics is known from theoretical mechanics as the problem of determining the forces affecting the body, if the trajectory of its movement is known. In the automatic control theory, the inverse dynamics method is realized through the concept of inverse control. Its essence is as follows. On the basis of the control quality requirements, a reference model of the automatic control system is synthesized. It is basically a differential equation with the desired dynamic characteristics of the control system. The degree of the differential equation of the reference model cannot be less than the degree of the controlled object. Then, the highest derivative is expressed from the reference model. The resulting expression is substituted instead of the highest derivative in the equation of the object, the principle of control is expressed from it. The theoretical improvement of the inverse dynamics method by applying the principle of decomposition of the reference model makes it possible to synthesize systems of automatic control for underwater complexes, nonlinear elements of which are set randomly. The scientific and applied novelty of the results of the work is the first-ever proposal of the structure of the robotic integrated system of the marine environment monitoring, which operates in real time, as well as the improvement of the control systems for the autonomous and grouped movement of the means of marine robotics as the MUMC components.

Product Description

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І. Надточій
А. Войтасик
А. Надточій
А. Сірівчук
В. Корицький
В. Надточій
Г. Бабкін
Г. Грудініна
Д. Буссов
Д. Самойленко
Ж. Буруніна
Л. Алоба
М. Турти
О. Авдєєва
О. Блінцов
О. Клочков
П. Клименко
С. Блінцов
С. Волянський
Ч. Дик

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2020-04-02