This paper proposes a simplified path-following control method for an Unmanned Surface Vessel (USV) considering towed Unmanned Underwater Vehicles (UUV). For dealing with an effective USV dynamic model, 1st order of the linear system with time delay and gain value are applied rather than applying a non-linear dynamic model, and it is identified with real vessel data from several straight and turning experiments. Then, USV attitude and velocity are controlled by multi-loop Proportional-Derivative (PD) and proportional controller. A USV guidance scheme is derived through a UUV guidance scheme to support autonomous navigation for towed UUV, and combination of cross track and Line of Sight (LOS) guidance is presented for adaptive path following. Finally, to validate the performance of the proposed USV path-following control method with respect to the towed UUV guidance scheme, the results of simulations are presented.
This paper investigates the relationship between the preload level of a ball screw drive and the detected natural frequency of the system in an axial direction. A dynamic model to study the preload variation of the system is derived, and then a preload feature is proposed for extracting preload conditions based on the detected natural frequency of the system. A modified double-nut ball screw drive system with adjustable preload level is constructed. This is for the purpose of experimental verification. An accelerometer is attached to the ball screw nuts of the drive system to acquire vibration signals. The signals are analyzed to obtain the natural frequency of the ball screw drive system in an axial direction. By investigating the variation of the detected natural frequency, it is shown that the preload level can be diagnosed by the proposed preload feature. Both the experiment results and mathematical model show a direct correlation between the natural frequency and preload levels. Natural frequency increases when the preload level increases. This study provides a method to monitor the preload of a ball screw system which can be used as an indicator of the health status of the drive system.
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