Modelagem e controle de um veículo aquático de superfície autoguiado.

Abstract

This dissertation approaches the control of a self-guided surface watercraft including the effect of water currents and wind gusts. The vehicle studied is a Catamaran model, equipped with two propellers operated in a differential mode, and it was designed to execute missions with the objective of performing the limnological analysis of the waters of the hydroelectric reservoirs power plants. The vehicle model derives from the equations of kinematics and dynamics of a rigid body that moves on the surface of a fluid. The forces and moments applied on the vehicle due to its interaction with the fluid, with the wind and sea currents based on the theory of hydrodynamics, winds and currents. From the model obtained, a training simulator with the dimensions of the reservoir of the Paulo Afonso I, Paulo Afonso II and Paulo Afonso III plants was developed, including effects of environmental factors, path control law, and a detection strategy and obstacle deviation. A genetic algorithm and a best path selection technique were used to determine the control law gains. Catamaran maneuvers were carried out under ideal conditions and it included the effect of environmental factors, tests of the worst maneuver conditions for the vehicle and conditions where there will be obstacles in its way, thus causing a deviation from its path. In the simulation studies, the real dimensions of the map of the reservoir region of the Paulo Afonso hydroelectric power plant were used, with obstacles in their environment based on interaction with Google Earth, in order to accomplish simulation missions in the reservoir by itself. From the study of the theoretical model for the dynamics of a known vehicle and the design of path follower controller, the missions given to the vehicle were made managing to traverse the reservoir from the obstacles.