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Baharom, M. B.
- Pitch and Depth Control of Underwater Glider Using LQG and LQR via Kalman Filter
Abstract Views :682 |
PDF Views:250
Authors
Affiliations
1 Dept. of Mech. Engg., Universiti Teknologi Petronas, MY
2 Dept. of Electrical Engg., Universiti Teknologi Petronas, MY
1 Dept. of Mech. Engg., Universiti Teknologi Petronas, MY
2 Dept. of Electrical Engg., Universiti Teknologi Petronas, MY
Source
International Journal of Vehicle Structures and Systems, Vol 10, No 2 (2018), Pagination: 137-141Abstract
Underwater gliders are adversely affected by ocean currents because of their low speed, which is compounded by an inability to make quick corrective manoeuvres due to limited control surface and weak buoyancy driven propulsion system. In this paper, Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) robust controllers are presented for pitch and depth control of an underwater glider. The LQR and LQG robust control schemes are implemented using MATLAB/Simulink. A Kalman filter was designed to estimate the pitch of the glider. Based on the simulation results, both controllers are compared to show the robustness in the presence of noise. The LQG controller results shows good control effort in presence of external noise and the stability of the controller performance is guaranteed.Keywords
Underwater Glider, Linear Quadratic Regulator, Linear Quadratic Gaussian, Longitudinal Stability, Kalman Filter.Full Text
References
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- Experimental Investigation of Ignition Timing on the Performance and Emission Characteristics of a Crank-Rocker Engine
Abstract Views :464 |
PDF Views:224
Authors
Affiliations
1 Dept. Mech. Engg., Centre for Automotive Research and Electric Mobility, Universiti Teknologi PETRONAS, Perak, MY
1 Dept. Mech. Engg., Centre for Automotive Research and Electric Mobility, Universiti Teknologi PETRONAS, Perak, MY
Source
International Journal of Vehicle Structures and Systems, Vol 10, No 2 (2018), Pagination: 146-149Abstract
The effects of varying the ignition timing on the performance and emissions characteristics of a crank-rocker engine were experimentally investigated. Experiments were carried out at five different ignition timings of 6.5°, 8.5°, 10.5°, 12.5° and 14.5° CA BTDC at engine speed of 2000rpm and wide open throttle position. Performance data such as brake torque, brake power, brake specific fuel consumption and brake thermal efficiency were calculated. Engine exhaust gas emission such as CO, CO2, HC and NOx have also been measured. The results showed that at 10.5° CA (BTDC) ignition timing, the crank-rocker engine produce maximum brake torque, brake power, BTE and minimum value for the BSFC. In general, CO and HC emissions decreased while CO2 and NOx emissions increased with ignition timing advance. The findings in this paper are useful for researchers and engine developers in understanding the trade-offs and physical limitations of crank-rocker engine designs.Keywords
Ignition Timing, Curved-Cylinder, Crank-Rocker Engine, Performance and Emissions.Full Text
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