Depth Control of an Underwater Sensor Platform: Comparison between Variable Buoyancy and Propeller Actuated Devices

• Type: Article in International Scientific Journal
• Date: 2024

Authors

João Pedro Falcão Carneiro (Author) FEUP; Freitas, J (Author) FMUP; Fernando Gomes Almeida (Author) FEUP; Nuno Cruz (Author) FEUP

Journal

Title: Sensors

Serial No. 22 Vol. 24 No. 9569

Final page: 3050

ISSN: 1424-3210

Publisher: MDPI

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 1 Citation

Other information

Authenticus ID: P-010-DW7

DOI: 10.3390/s24103050

Abstract (EN): Underwater long-endurance platforms are crucial for continuous oceanic observation, allowing for sustained data collection from a multitude of sensors deployed across diverse underwater environments. They extend mission durations, reduce maintenance needs, and significantly improve the efficiency and cost-effectiveness of oceanographic research endeavors. This paper investigates the closed-loop depth control of actuation systems employed in underwater vehicles, focusing on the energy consumption of two different mechanisms: variable buoyancy and propeller actuated devices. Using a prototype previously developed by the authors, this paper presents a detailed model of the vehicle using both actuation solutions. The proposed model, although being a linear-based one, accounts for several nonlinearities that are present such as saturations, sensor quantization, and the actuator brake model. Also, it allows a simple estimation of the energy consumption of both actuation solutions. Based on the developed models, this study then explores the intricate interplay between energy consumption and control accuracy. To this end, several PID-based controllers are developed and tested in simulation. These controllers are used to evaluate the dynamic response and power requirements of variable buoyancy systems and propeller actuated devices under various operational conditions. Our findings contribute to the optimization of closed-loop depth control strategies, offering insights into the trade-offs between energy efficiency and system effectiveness in diverse underwater applications.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 20