Autopilots and Controllers

A suite of autopilots algorithms have been developed and tested on a range of vehicles. These are self-tuning algorithms which 'learn' the vehicle dynamics by performing a short sequence of manoeuvres; thereafter the optimal controller parameters are applied. The available controller algorithms include the following:

Heading control,
Speed control,
Track (way-point) following,
Vehicle following,
Hovering / Dynamic Positioning,
Attitude and depth control.

 

Hardware

The autopilot technology has been incorporated into the SPECTRE Processor Board. The SPECTRE Processor Board includes configurable controller algorithms, providing a number of modes of vehicle control, and extensive interface capability, including machinery (e.g. propulsors, control surfaces) interfaces, navigational sensor interfaces, and an efficient command communications protocol.

Airship SPECTRE	SPECTRE for surface craft	AUV/UUV remote control systems

In overview, the SPECTRE Processor Board provides:

Advanced self-tuning autopilot control modes, track and hover,
Remote controlled operation,
Auto-heading, for minimum operator workload,
Fully autonomous operation,
Autonomous with capibility for operator intervention,
Covert mode - zero command link transmission,
Joystick interface for direct MMI input,
Adaptive algorithms which continuously adjust to environmental conditions such as wind, waves, tide and turbulence.

The system provides a number of "spare" channels for controlling payload systems using the same command link. Specific sub-component systems, such as engine ignition and throttle control, sensor control boards, have been designed and interfaced with the SPECTRE Processor Board.

The SPECTRE Remote Control System has been developed for autonomous control for surface craft. This is a turnkey system, based on the SPECTRE Processor Board, which can be retrofitted to most standard RHIBs. The system offers additional functionality including interfacing with navigation systems, and with engine, gearbox and throttle control. The standard system is configured to control a craft with a single engine via a standard electronic throttle actuator and hydraulic steering pump, but is designed to be easily reconfigurable to meet the needs of a variety of craft including twin propellers and waterjets.

See Autopilots for a number of case studies of autopilot systems, including airbourne, surface and subsea applications.

The operator interface is completely user-configurable so it can be set up to suit the vehicle and the application. The example shown here includes:

Operator controls, including
• manual machinery control
• set control modes
Navigational displays, including
• dials and digital readouts
• artificial horizon
• depth display
• LED indicators to monitor the status of on-board systems
An additional window shows the vehicle viewed from east, south or from above.

The operator may also be able to access the analogue inputs and outputs on the SPECTRE board, set up sensors, view and modify the autopilot configuration data, and request an Emergency Stop.

The proprietary, low bandwidth communication protocol is supported which allows efficient two-way communication between the remote control computer and the vehicle. This interface is available as a DLL allowing the user to tailor their application to use this interface. In addition, a NMEA-type interface is supported. Other interfaces can be added to suit the customer requirements.

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