3.

BOUYANCY CONTROL IN UUV

Buoyancy control is making an organization to allow adjusting of the location of vehicle throughout the operation time. Increasing of functional properties of the vehicle can be obtained by the effective using of the buoyancy control features UUV is driven for the many number of position or it can response many input that is sourced and collected by the sensors. It is possible to move vehicles that obtain a changing against seabed and tide waves. In another way, there are many input which is coming from the plan parameters, mission plan, operator inputs, input from the sensor that is put on or in the vehicle etc so the buoyancy control is designed to move between two different points under the water as response to all of these data inputs. Location of UUV is inspected by a monitor based on position of operator or mission plan that is communicated previously. Sensors is a kind of communication way that is sended to the processing devices. Communication ways is being with a group of electronic optical fiber communication line and radio frequency. Propulsion is another terms that we can put it under buoyancy concept. Propulsion is determined by the doing some setting of vertical, rotational position of the vehicle. In another way, propulsion is planned to permit responding of the input that comes from the sensor which is located in or on the vehicle, an external sensor, plan parameters, operator inputs etc.Propulsion ways with buoyancy control concept can be considered together. Sensor and sensor connection can supply multi direction and large movement range of UUV to the propulsion. In another way, buoyancy can be considered as increasing of sucking force between seabed and vehicle.Bouyancy control can be fixed with putting out of water by the helping of a pump mechanisms. This also provides us deep controlling. Vehicle buoyancy can demonstrate a changing with using a kind of pump mechanism. This adjusting can be doing with two ways in a standard type. One of that is using a well located supplying ways. Other one is stocks. If we want to describe it as concrete. Based on above explanation, processing device is designed to work propulsion ways. Present invention enable a group of operation method to the UUV.These method provides us determining of the steps of vehicle buoyancy as response to the inputs which is sourced by a

sensor. With improving of the competence of the UUV, operation ability and its function provides easily movement between different positions in the seabed and tide waves.

3.1 DEEP CONTROL WITH POSITIVE BUOYANCY

Usually, an AUV has six degree of freedom differential equation of motion that can be defined for the motion of general AUV.Using two coordinate frame system, these differential equation is found. These coordinate frame demonstrated at the below.AUV has six velocity components. These are (u,v,w,p,q,r).Meaning of these symbol are surge, heave, roll, pitch, yaw in rows.

Illustration of coordinate frame system for starfish AUV Being nonlinear of these equations is sourced by hydrodynamic forces. In application, the system separate into three non interaction subsystem. These are the speed subsystem, the steering subsystem and the dividing subsystem. We can accept dual loop control method with two control loop type. These are pitch control loop and the depth control loop. A demanded pitch angle is occurred by the depth controller in the dual loop design. The elevator deflection is determined by the pitch controller. This explanation shown as fig 2 below. (Tadahiro Hyakudome, Taro Aoki, Toshio Maeda, Takashi MurashimaSatoshi Tsukioka, Hidehiko Nakajoh, Tadahiko Ida, Takuji Ichikawa 2002)

Depth subsystem with dual loop control Tadahiro Hyakudome, Taro Aoki, Toshio Maeda, Takashi MurashimaSatoshi Tsukioka, Hidehiko Nakajoh, Tadahiko Ida, Takuji Ichikawa, 2002) The inner pitch controller is planned by the using sliding mode control methodology. We described a kind of methodology that is planned to determine pitch angle throughout constant depth movement. The feed forward loop provides us an basic heave dynamics and permit balanced controller which is planned for outer depth control loop. (Tadahiro Hyakudome, Taro Aoki, Toshio Maeda, Takashi MurashimaSatoshi Tsukioka, Hidehiko Nakajoh, Tadahiko Ida, Takuji Ichikawa 2002) 3.1.1 DEPTH SYSTEM MODELING In this section, we have an x-z plane and equation of motion which is used for both heave and pitch.These equations are: m(w u0q) = Z Iyq = M In these equations, Z is denoted as external force and M is denoted as pitch moment that include hydrodynamic mass, linear damping, cross flow drag and munk moment and also there is a moment that is occurred because of vertical distance which is happened between center of mass and center of buoyancy. Formulation of this moment is: BGz = zGzB; A positive buoyancy also is on the z axis.

Z = Zww + Zqq + Zww + Zqq + Zg + B M = Mww +Mqq +Mww +Mqq mg(zG zB) sin +Mg ' Mww +Mqq +Mww +Mqq mgBGz +M g (Tadahiro Hyakudome, Taro Aoki, Toshio Maeda, Takashi Murashima Satoshi Tsukioka, Hidehiko Nakajoh, Tadahiko Ida, Takuji Ichikawa 2002)

3.2 VARIABLE BOUYANCY CONTROL

Small changes that occurs because of the big size vehicle, low working speed, battery replacing or auditioning, variability of water temperature throughout the mission can be concluded in important drag reduction. Changing on buoyancy is also sourced by the deep. Increasing of the density and compression due to the deep of water can affect the buoyancy of the vehicle. Humphreys and Watkinson advises that making a hydrodynamic model that determine the weight limit and difference center of gravity and center of buoyancy poroperly.This is very important in terms of variable buoyancy control system. This system have to be enough effective for especially shallow water. Price and dimensions of the needed pump system that is designed for the variable buoyancy system can prevent to defeat environmental pressure condition. At present, variable buoyancy system is not used for autonomous underwater vehicle. Cable laying AUV is another unusual usage that is improved by the International Submarine Engineering. It uses a kind of passive system to reveal for buoyancy gained by the using cable without pulley by sending seawater into the buoyancy tanks. If obtained water test datas compare with each other then certainty of the variable buoyancy systems can be demostrated.Depth control mode and trim control mode are main operational way of making design and application of the variable buoyancy system. Another using control subject is attachment of an expanded kalman filter to guess motion variable. Another suggesting subject for the deep control can be a fuzzy-logic-based controller. At the end, indicating of the performance of the variable buoyancy system is done thanks to compared in water test data. An advantage of the subject that is explained at the above is presented for simple design and fresh and salt water working area. This topic provides us basic practical comprehension in terms of using variable buoyancy system within autonomous underwater vehicle.

3.2.1 VARIABLE BOUYANCY ENGINE CONTROLING IN UUV

The power stocks and power consumption of a UUV is related performance of a UUV. This affects the staying underwater of the vehicle and pushing itself under the water. We can describe power consumption into two parts. These are passive and active. hotel load manage the passive component of the vehicle. This consumption is directly related with total energy consuming of all onboard parts of the vehicle. On the other hand, propulsion system of the vehicle manages the active part of the vehicle. It is related with energy decreasing in the active and passive parts that affect the propeller. A kind of buoyancy engine illustrated figure at below. (http://www.stoneaerospace.com/products-pages/products-variable-buoyancy.php)

Variable buoyancy control engine

(http://science.howstuffworks.com/environmental/earth/oceanography/depthx1.htm)

The total loss of the buoyancy can be balanced by the continuous propulsive that waste valuable power stocks. A buoyancy engine is used as equipment of the AUV to prevent this. In generally, there are three buoyancy engine structures. These are pneumatically driven which is used with a pump, pump driven which is designated with increasing of hydrostatic pressure and piston actuated displacement chamber. In addition to this, demanding buoyancy level and buoyancy rate of change of variable buoyancy engine can carry with directive in

close

loop

control.

(http://www.stoneaerospace.com/products-pages/products-variable-

buoyancy.php) Providing a good buoyancy controller can be done by buoyancy engine which have required constituents and it required to have sensor that measure sensibility of the density changing. If we think a prototype buoyancy system that have bottle which air get in or get out when we want to obtain positive buoyancy. To obtain an increasing and decreasing at the control speed, a transducer have to used in this system. In the figure that is below shown a display of hardware of buoyancy engine. (J. Supriyanka, Shabnam Parveen, P. Kavita and N.Jagdesh Babu, 2011)

Overwiev of an hardware of buoyancy engine (J. Supriyanka, Shabnam Parveen, P. Kavita and N.Jagdesh Babu, 2011) This is a sample for control of buoyancy by buoyancy engine that is used for AUV.An open loop system is improved for sended and released by the helping of pump from the flow regulator, pressure sensor, power supply and solenoid valves. This open loop system is used

for providing convenience microcontroller. (J. Supriyanka, Shabnam Parveen, P. Kavita and N.Jagdesh Babu, 2011)

4. CONCLUSION
As a result of this literature survey, many parameters can affect the buoyancy of the UUVs such as tide waves, seabed so, understanding of these parameters can be provided with a sensor that is mounted on or into the vehicle. In addition to this, providing of communication of the operator is very important. This is adjusting of cable or radio frequency input that is sended to the monitor which is followed by the operator. Radio frequency is considered the best communication way of these two because, cable communication with operator can result limited motion of the vehicle. In addition to this, some method which is used for controlling of buoyancy can determine based on comparing on some water test data. On the other hand, positive buoyancy should be understood. Because, depth of the water can create a changing on buoyancy so, deep control can be provided with adjusting of positive buoyancy. In this condition, variable buoyancy control has big importance in terms of understanding of buoyancy changing. In buoyancy controlling, some method can be used. The best method among the other can be chosen based on performance of UUVs, total energy consumption of active and passive components, implementation features.