ISSN 1991-2927
 

ACP № 1 (59) 2020

Author: "Rinat Damirovich Shigapov"

Rinat Damirovich Shigapov, Federal Research-and-Production Center Open Joint-Stock Company ‘Research-and-Production Association ‘Mars’, graduated from the Radio Engineering Department of Ulyanovsk State Technical University; a software engineer of Federal Research-and-Production Center Open Joint-Stock Company ‘Research-and-Production Association ‘Mars’; research interests include management of marine mobile objects. [e-mail: shigap@hotmail.com]R. Shigapov,

Viktor Rostislavovich Krasheninnikov, Ulyanovsk State Technical University, Doctor of Engineering, Professor; graduated from Kazan State University, head of the Department of Applied Mathematics and Computer Sciences at Ulyanovsk State Technical University; research interests include statistical methods of signal and image processing. [e-mail: kvrulstu@mail.ru]V. Krasheninnikov,

Aleksey Valeryevich Mattis, Federal Research-and-Production Center Open Joint-Stock Company ‘Research-and-Production Association ‘Mars’, Сandidate of Engineering; graduated from the Faculty of Machine-Building at Ulyanovsk State Technical University; his major is 'Technology, Equipment and Automation of Machine-Building Productions'; Deputy Chief Designer at FRPC OJSC 'RPA 'Mars'; an author of publications in the field of modelling and development of C2 systems. [e-mail: mars@mv.ru]A. Mattis

Synthesis of a Fuzzy Controller for Control of Ship Hoist 36_2.pdf

The present paper deals with a mathematical model of the system which is comprised of a ship hoist and a cable connecting the remotely controlled underwater vehicle with a surface ship; a fuzzy controller is synthesized to control the ship hoist allowing the minimum impact of the cable to the underwater vehicle.The mathematical model of the cable is represented by the N-system of the hinged rails (links); at this, the length of the first link and the link number allow their reduction over time. To model the ship hoist, a simplified model is applied. Recommendations are made to determine the membership functions for input and output variables of the developed controller, and to synthesize its rule database. The Mamdani algorithm is employed for the fuzzy logic output. When setting the membership functions and synthesizing the control rules, the restrictions for the cable strength and hoist persistence are taken into account. The paper gives the results of comparison of the ‘proportional-differential’ model with the fuzzy controllers. A computer program is developed where the performance of the hoist and control system within the ‘surface ship - cable - underwater vehicle’ system is simulated. To identify the hoist, we have used the actual features of SVL-4 hoist which is ‘Simbiya’ company produced. To implement the fuzzy modeling process, we have employed tools from MathWorks MatLab mathematical software package including Fuzzy Logic Toolbox, a specialized bump pack.

Cable, ship hoist, fuzzy controller.

2014_ 2

Sections: Automated control systems

Subjects: Automated control systems, Architecture of ship's system.


Victor Rostislavovich Krasheninnikov, Ulyanovsk State Technical University, Doctor of Engineering, Professor, graduated from Kazan State University, head of the Applied Mathematics and Informatics Chair at Ulyanovsk State Technical University; author of works on statistical methods for signal and image processing [e-mail: kvr@ulstu.ru]V. Krasheninnikov,

Rinat Damirovich Shigapov, Federal Research-and-Production Center Open Joint-Stock Company Research-and-Production Association Mars, Post-graduate student, graduated form the Faculty of Radio Engineering at Ulyanovsk State Technical University; software engineer at Federal Research-and-Production Center Open Joint-Stock Company Research-and-Production Association Mars; author of articles in the field of marine mobile objects management [e-mail: shigap@hotmail.com]R. Shigapov

The Model for Movement of Cable Connecting Carrying Ship With Unmanned Underwater Vehicle 31_13.pdf

The article shows the results of motion modeling for a cable connecting a surface ship with an unmanned underwater vehicle (UUV). The model represents the cable as a tensile torsion fiber which consequently simplifies solution of motion equations. The article uses an algorithm allowing the use of motion equations for a stretched torsion fiber provided the negative tension arises on it. We have used a simple numerical method to resolve combined cable-motion equations.

Cable, tensile, hooke's law, unmanned underwater vehicle.

2013_ 1

Sections: Software and mathematical support of computers, computer systems and networks

Subjects: Mathematical modeling, Artificial intelligence, Operational research.


Rinat Damirovich Shigapov, Federal Research-and-Production Center Open Joint-Stock Company Research-and-Production Association Mars, post-graduate student; graduated from the Faculty of Radioengineering of Ulyanovsk State Technical University; programmer at Federal Research-and-Production Center Open Joint-Stock Company Research-and-Production Association Mars; author of articles in the field of control of sea mobile objects [e-mail: shigap@hotmail.com]R. Shigapov

Training of Neuro-Fuzzy Control System to Characteristics of a Given Control System for Unmanned Underwater Vehicle Movement28_8.pdf

The article deals with an algorithm developed for control of movement of remote-controlled un-manned underwater vehicle connected with carrying ship by a cable. The algorithm uses fuzzy-logic methods with neuron network settings of controlparameters, so that the result of PID-controllers work is reproduced. The algorithm can be used to reproduce other controllers and makes it a universal instrument to create high-performance systems for automatic control.

Remote-controlled, unmanned underwater vehicle, control, neural, fuzzy, cable, extensible, regulator, adaptive.

2012_ 2

Sections: Artificial-intelligence systems

Subjects: Artificial intelligence, Architecture of ship's system.


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