Open AccessMonitoring of water quality in ponds using a miniature unmanned underwater vehicle
Author(s) -
D. I. Safarov,
S. Efimov,
Sergey Knyazev,
Sergey Jatsun
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1103/1/012008
Subject(s) - mathematical model , process (computing) , thrust , underwater , transient (computer programming) , control engineering , computer science , development (topology) , control theory (sociology) , engineering , control (management) , artificial intelligence , mathematics , mechanical engineering , mathematical analysis , statistics , geology , operating system , oceanography
The proposed article is based on mathematical models of study and development setting up computational experiments of a miniature unmanned underwater vehicles (MUUV) The development and study of systems for automated monitoring of water quality in reservoirs (SAWM) allows the prompt real-time assessment of the environmental situation at various points in the monitoring area. The research objectives are the development of mathematical models describing the process of MUUV control, as well as the development of a mathematical model of the MUUV system. The development of a motion control strategy in the study of water quality is carried out to organize the sampling process. A mathematical model which describes perturbed motion is proposed and a method for the synthesis of the parameters of regulator of the control system based on the decomposition of the equations of motion of the MUUV and transient process is developed. Mathematical models of the force factors acting on the MUUV were developed in view of external pulse disturbances. Mathematical models of control factors were developed which ensured the motion of the MUUV with a variable thrust vector.