Altitude control feasibility for a seaweed harvester

Author

Gallieri, Marco ; Ringwood, John

Author_Institution

Dipt. di Ing., Inf., Gestionale e dell´´ Autom., Univ.´´ Politec. delle Marche, Ancona, Italy

fYear

2010

fDate

14-17 March 2010

Firstpage

64

Lastpage

69

Abstract

In this paper, the feasibility of the altitude control of a seaweed harvester is examined. The harvesting system consists of a vessel and a suspended harvester device, the altitude of which is controlled by a winch. The goal of the control action is to maintain the harvester at a constant altitude with respect to the seabed profile. A control strategy is proposed, including a vessel motion feed-forward action, using a motion reference unit (MRU), and an altitude feedback loop, using a sonar device for altitude measurement.

Keywords

aquaculture; feedforward; height measurement; motion control; sonar; altitude control feasibility; altitude feedback loop; altitude measurement; motion reference unit; seaweed harvester; sonar device; suspended harvester device; vessel motion feed-forward action; Control systems; Feedback loop; Feedforward systems; Hydrodynamics; Marine vehicles; Motion control; Sea measurements; Sonar measurements; Three-term control; Winches;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology (ICIT), 2010 IEEE International Conference on

Conference_Location

Vi a del Mar

Print_ISBN

978-1-4244-5695-6

Electronic_ISBN

978-1-4244-5696-3

Type

conf

DOI

10.1109/ICIT.2010.5472654

Filename

5472654