Control System Design and Thrust Analysis of an Unmanned Surface Cleaning Vessel With a Novel Pump-Valve Propulsion System

This article presents a specialized control system for an unmanned surface cleaning vessel (USCV) employing a pump-valve propulsion system. The system has three operational modes, including manual remote-control mode, self-automated cruise mode, and self-locking remote-control mode. In the manual re...

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Bibliographic Details
Published in:IEEE access 2020, Vol.8, p.46356-46372
Main Authors: Luo, Yaojing, Ai, Jiaoyan, Zheng, Jianwu, Wang, Jufeng
Format: Article
Language:English
Subjects:
Actuation
Automatic control
Automation
CFD
Cleaning
Computational fluid dynamics
Control systems
Control systems design
Control valves
Joysticks
Locking
Magnetic resonance imaging
motion states
Obstacle avoidance
operational modes
Propulsion
Propulsion systems
pump-valve propulsion
Remote control
Remote sensors
Sensors
Surface cleaning
USCV
Valves
Vessels
Wireless communication
Wireless communications
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Summary:This article presents a specialized control system for an unmanned surface cleaning vessel (USCV) employing a pump-valve propulsion system. The system has three operational modes, including manual remote-control mode, self-automated cruise mode, and self-locking remote-control mode. In the manual remote-control mode, users remotely control the vessel by means of a motion-control joystick. In the self-automated cruise mode, the control system is capable of detecting obstacles and automatically controlling the pump-valve propulsion system in response to feedback signals from sensors. The self-locking remote-control mode functions similarly to the first mode, except that the joystick controls the vessel motion in accordance with a single established joystick-actuation pattern. The control system is supported by a commercially available remote controller with wireless communication technology. The functionality of the combined control and pump-valve propulsion system is verified by computational fluid dynamics simulations and experimental tests conducted using a prototype USCV. The combined control and pump-valve propulsion system is demonstrated to be a cost-effective, simple, and innovative platform that is suitable for use with USCVs.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.2974813