Optimal Control for Torpedo Motion by Using MEMS Gyroscope and PID Controller


Thanh-Long Le†,‡,‡†*


Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City, Vietnam

National Key Laboratory of Digital Control and System Engineering (DCSELab), HCMUT, 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City, Vietnam

‡† Vietnam National University Ho Chi Minh City, Linh Trung Ward, Thu Duc City, Ho Chi Minh City, Vietnam

Corresponding Author Email:ltlong@hcmut.edu.vn

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The torpedo is the popular weapon of submerged fighting, but a successful attack is not achieved easily. In this study, the proposed algorithm is used to optimize the mathematical model and motion control for a torpedo. The present study gives an illustration of using MATLAB, Simulink, … to calculate the equations of motion and math functions for controlling propellers with wings, rudders as well as find the best way to achieve the desired values. To optimize the system, a Micro-Electro-Mechanical System (MEMS) Gyroscope and Proportional Integral Derivative (PID) controller are used for adjusting and simulating to verify whether the simulated result matches with the practical responses or not. The numerical results show the response of the control system and the controller performance are stable and accurate. For evaluating the response of PID controller and system more exactly, step block and sine wave block are added as input signals. A comparison of the system performance between torpedo with PID controller and torpedo without PID controller is also investigated. The numerical results show a good agreement with previous experimental observations.