Design of an adaptive following-up electric drive for an autonomous marine probe with adjustable buoyancy

by

L.A. Krasnodubets, V.V. Alchakov, A.I. Grushun

Sevastopol State University, RF, Sevastopol, Universitetskaya St., 33

E-mail: lakrasno@gmail.com

DOI: 10.33075/2220-5861-2025-2-57-65

UDC 62-50

EDN: https://elibrary.ru/iauivyf

Abstract:     

Algorithmic software has been developed for the automated design of an adaptive tracking electric drive for an autonomous marine probe with adjustable buoyancy, operating in a stratified ocean environment. Unlike the traditional cascaded control scheme for the buoyancy variator tracking electric drive, an analytical method of signal-based adaptive control was employed. This approach allowed for the formal determination of the adaptive controller functional structure and the development of a unified automated design algorithm. The results were verified through computer simulations in the MATLAB/Simulink engineering and scientific computation system. The simulation used numerical reference parameters of the industrial Lenze PM 13.120 permanent-magnet DC motor, widely used in industrial automation. The proposed approach to the automated design of an autonomous marine probe as a controlled mobile data-gathering platform ensures adaptive and robust properties for the onboard dive control system of the autonomous oceanographic probe. This will positively impact the probe’ motion dynamics and the quality of dynamic measurements of aquatic environment parameters under significant stratification. In particular, it enables terminal positioning of the probe at a specified depth within a set time frame, as well as traversing predefined stratified layers at the required speed.

Keywords: autonomous marine probe, electric drive, controller, model, adaptive control, automated design, algorithm, simulation

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