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Through and comprehensive tests are necessary to ensure complete stability and reliability of AUV, due to the high risk and consumption of in field testing, onshore testing technology for AUV is proposed. Rudder load simulator plays an important role in the onshore testing of AUV. In this paper, the design and development of a rudder load simulator was discussed. Rudder load calculation method during...
In this paper, the distributed adaptive finite-time consensus tracking control algorithm is proposed for multi-AUV(autonomous underwater vehicle) systems. Firstly, the graph theory is used to describe the communication topology of multi-AUV system. Secondly, a nonsingular fast terminal sliding mode is designed and the distributed control law is constructed for the multi-AUV system based on the force...
A novel electrostatic force feedback approach is presented for extending the bandwidth of a mode-matching vibratory microgyroscope. A 0.02 Hz mode-mismatch gyroscope is achieved by applying a DC voltage of 26 V to the squeeze-film combs to adjust the stiffness of the sense mode. Sweep-frequency tests demonstrate that the open loop frequency response is close to a one-order system with a bandwidth...
In this paper, we demonstrate a testing method for characterization of microgyroscopes using a virtual rate-table, which uses a series of voltage signals to emulate the Coriolis force induced by the angular rate inputs to obtain the frequency response of the gyroscope. The proposed approach holds the following advantages: 1) it provides a convenient and efficient way to evaluate the scale factor and...
This paper makes an investigation on the decoupling performance for a novel lateral axis gyroscope with varying environmental parameters. The testing results show that the decoupling performance of the gyroscope depends on the environment pressure and temperature. The coupling varies from 0.05% to 0.25% with the pressure range of 150 Pa to 100 kPa. The characteristic of coupling with temperature is...
This paper focused on the study of the quadrature error for a bulk micromachined gyroscope under varying pressure conditions between 150 Pa and 100 kPa. The source of the quadrature error and the non-ideal model of the micromachined gyroscope are presented with details. The change trend and characterization of pressure dependence were analyzed both analytically and experimentally in the custom-built...
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