Heading Control
in [Matlab]
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From: Robert W on 28 May 2010 10:39 Hello I perform some Tests with an ROV VideoRay Pro III . I have some questions. Maybe you can help me, or you have some ideas. My aim is generating a Heading-Control Loop. Therefore i have made some Tests in a pool and look at the Heading-Behaviour. First- the Video Ray Pro 3 get out only TWO! information (about serial port): This is Depth and Heading. The Depth should be constant at all times of investigation. Remains only one information - Heading (0...359). I can influence the VideoRay about a SIMULINK-Model. Input signals are: Current for the left and right Thruster! (This is a number between -220... 220 / forward: plus, backward: minus). That's all. I have made some Tests (maybe Input current left thruster= 40, right thruster=0). I get a curve in SIMULINK-Scope (image hdg.jpg enclosed). After some time it collimates a constant gradient / rotary rate. Have you some idea, how can i create a Model/System for the VideoRay? Maybe a Transfer-Function like G(s) = Y(s) / U(s). But thats not easy because there are too many possible oppurtunities for the input of the VideoRay (e.g. Current Left = 30, Current Right = 5 ... and so on...). Is it advisable to go this way? Or should I start immediately building a Control Loop? (enclosed image: System.jpg). In fact the Control loop should only be go to the heading and hold the heading, i have input in the SIMULINK Model. (for example: 40°). But how can I realize this with the Controller? I need some laws...that the Controller know, which Thruster must have which Current!? Many Thanks in advance! |