{"id":26140,"date":"2024-02-24T11:35:54","date_gmt":"2024-02-24T12:35:54","guid":{"rendered":"https:\/\/express24.ir\/d\/product\/%d9%85%d9%82%d8%a7%d9%84%d9%87-%d9%85%d8%af%d9%84-%d8%b3%d8%a7%d8%b2%db%8c-%d8%8c-%d8%b4%d8%a8%db%8c%d9%87-%d8%b3%d8%a7%d8%b2%db%8c-%d9%88-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d8%a7%d9%86%d9%88%d8%b1\/"},"modified":"2024-02-24T11:35:55","modified_gmt":"2024-02-24T12:35:55","slug":"%d9%85%d9%82%d8%a7%d9%84%d9%87-%d9%85%d8%af%d9%84-%d8%b3%d8%a7%d8%b2%db%8c-%d8%8c-%d8%b4%d8%a8%db%8c%d9%87-%d8%b3%d8%a7%d8%b2%db%8c-%d9%88-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d8%a7%d9%86%d9%88%d8%b1","status":"publish","type":"product","link":"https:\/\/express24.ir\/d\/product\/%d9%85%d9%82%d8%a7%d9%84%d9%87-%d9%85%d8%af%d9%84-%d8%b3%d8%a7%d8%b2%db%8c-%d8%8c-%d8%b4%d8%a8%db%8c%d9%87-%d8%b3%d8%a7%d8%b2%db%8c-%d9%88-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d8%a7%d9%86%d9%88%d8%b1\/","title":{"rendered":"\u0645\u0642\u0627\u0644\u0647 \u0645\u062f\u0644 \u0633\u0627\u0632\u06cc \u060c \u0634\u0628\u06cc\u0647 \u0633\u0627\u0632\u06cc \u0648 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0627\u0646\u0648\u0631 \u06cc\u06a9 \u0632\u06cc\u0631\u062f\u0631\u06cc\u0627\u06cc\u06cc \u0639\u0645\u0648\u0645\u06cc"},"content":{"rendered":"<table class=\"table table-striped table-hover\">\n<tbody>\n<tr>\n<td>\u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0627\u0646\u06af\u0644\u06cc\u0633\u06cc <\/td>\n<td>Modeling, Simulation, and Maneuvering Control of a Generic Submarine<\/td>\n<\/tr>\n<tr>\n<td>\u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0641\u0627\u0631\u0633\u06cc <\/td>\n<td>\u0645\u0642\u0627\u0644\u0647 \u0645\u062f\u0644 \u0633\u0627\u0632\u06cc \u060c \u0634\u0628\u06cc\u0647 \u0633\u0627\u0632\u06cc \u0648 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0627\u0646\u0648\u0631 \u06cc\u06a9 \u0632\u06cc\u0631\u062f\u0631\u06cc\u0627\u06cc\u06cc \u0639\u0645\u0648\u0645\u06cc<\/td>\n<\/tr>\n<tr>\n<td>\u0646\u0648\u06cc\u0633\u0646\u062f\u06af\u0627\u0646 <\/td>\n<td>Gage MacLin, Maxwell Hammond, Venanzio Cichella, J. Ezequiel Martin<\/td>\n<\/tr>\n<tr>\n<td>\u0632\u0628\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 <\/td>\n<td>\u0627\u0646\u06af\u0644\u06cc\u0633\u06cc<\/td>\n<\/tr>\n<tr>\n<td>\u0641\u0631\u0645\u062a \u0645\u0642\u0627\u0644\u0647: <\/td>\n<td>PDF<\/td>\n<\/tr>\n<tr>\n<td>\u062a\u0639\u062f\u0627\u062f \u0635\u0641\u062d\u0627\u062a<\/td>\n<td>12<\/td>\n<\/tr>\n<tr>\n<td>\u062f\u0633\u062a\u0647 \u0628\u0646\u062f\u06cc \u0645\u0648\u0636\u0648\u0639\u0627\u062a  <\/td>\n<td>Systems and Control,\u0633\u06cc\u0633\u062a\u0645 \u0648 \u06a9\u0646\u062a\u0631\u0644 \u060c<\/td>\n<\/tr>\n<tr>\n<td>\u062a\u0648\u0636\u06cc\u062d\u0627\u062a    <\/td>\n<td>Submitted 18 December, 2023; originally announced January 2024. , Comments: 12 pages, 14 figures, to be published in Control Engineering Practice. arXiv admin note: substantial text overlap with arXiv:2212.09821<\/td>\n<\/tr>\n<tr>\n<td>\u062a\u0648\u0636\u06cc\u062d\u0627\u062a \u0628\u0647 \u0641\u0627\u0631\u0633\u06cc    <\/td>\n<td>\u0627\u0631\u0627\u0626\u0647 \u0634\u062f\u0647 18 \u062f\u0633\u0627\u0645\u0628\u0631 2023 \u061b\u062f\u0631 \u0627\u0628\u062a\u062f\u0627 \u0698\u0627\u0646\u0648\u06cc\u0647 2024 \u0627\u0639\u0644\u0627\u0645 \u0634\u062f \u060c \u0646\u0638\u0631\u0627\u062a: 12 \u0635\u0641\u062d\u0647 \u060c 14 \u0634\u06a9\u0644 \u060c \u06a9\u0647 \u062f\u0631 \u062a\u0645\u0631\u06cc\u0646 \u0645\u0647\u0646\u062f\u0633\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0645\u0646\u062a\u0634\u0631 \u0645\u06cc \u0634\u0648\u062f.Arxiv Admin \u062a\u0648\u062c\u0647: \u0645\u062a\u0646 \u0642\u0627\u0628\u0644 \u062a\u0648\u062c\u0647\u06cc \u0628\u0627 ARXIV \u0647\u0645\u067e\u0648\u0634\u0627\u0646\u06cc \u062f\u0627\u0631\u062f: 2212.09821<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2>\u0686\u06a9\u06cc\u062f\u0647<\/h2>\n<p style=\"direction:ltr;\">This work introduces two multi-level control strategies to address the problem of guidance and control of underwater vehicles. An outer-loop path-following algorithm and an outer-loop trajectory tracking algorithm are presented. Both outer-loop algorithms provide reference commands that enable the generic submarine to adhere to a three-dimensional path, and both use an inner-loop adaptive controller to determine the required actuation commands. Further, a reduced order model of a generic submarine is presented. Computational fluid dynamics (CFD) results are used to create and validate a model that includes depth dependence and the effect of waves on the craft. %The model and the procedure to obtain its coefficients are discussed, and examples of the data used to obtain the model coefficients are presented. An example of operation following a complex path is presented and Results from the reduced order model for each control strategy are compared.<\/p>\n<h2>\u0686\u06a9\u06cc\u062f\u0647 \u0628\u0647 \u0641\u0627\u0631\u0633\u06cc (\u062a\u0631\u062c\u0645\u0647 \u0645\u0627\u0634\u06cc\u0646\u06cc)<\/h2>\n<p>\u0627\u06cc\u0646 \u06a9\u0627\u0631 \u062f\u0648 \u0627\u0633\u062a\u0631\u0627\u062a\u0698\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0686\u0646\u062f \u0633\u0637\u062d\u06cc \u0631\u0627 \u0628\u0631\u0627\u06cc \u0631\u0641\u0639 \u0645\u0634\u06a9\u0644 \u0631\u0627\u0647\u0646\u0645\u0627\u06cc\u06cc \u0648 \u06a9\u0646\u062a\u0631\u0644 \u0648\u0633\u0627\u06cc\u0644 \u0646\u0642\u0644\u06cc\u0647 \u0632\u06cc\u0631 \u0622\u0628 \u0645\u0639\u0631\u0641\u06cc \u0645\u06cc \u06a9\u0646\u062f.\u06cc\u06a9 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 \u067e\u06cc\u06af\u06cc\u0631\u06cc \u0645\u0633\u06cc\u0631 \u062d\u0644\u0642\u0647 \u0628\u06cc\u0631\u0648\u0646\u06cc 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\u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0641\u0639\u0627\u0644 \u0633\u0627\u0632\u06cc \u0645\u0648\u0631\u062f \u0646\u06cc\u0627\u0632 \u0627\u0632 \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631 \u062a\u0637\u0628\u06cc\u0642\u06cc \u062d\u0644\u0642\u0647 \u062f\u0627\u062e\u0644\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u06a9\u0646\u0646\u062f.\u0639\u0644\u0627\u0648\u0647 \u0628\u0631 \u0627\u06cc\u0646 \u060c \u06cc\u06a9 \u0645\u062f\u0644 \u0633\u0641\u0627\u0631\u0634 \u06a9\u0627\u0647\u0634 \u06cc\u0627\u0641\u062a\u0647 \u0627\u0632 \u06cc\u06a9 \u0632\u06cc\u0631\u062f\u0631\u06cc\u0627\u06cc\u06cc \u0639\u0645\u0648\u0645\u06cc \u0627\u0631\u0627\u0626\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a.\u0627\u0632 \u0646\u062a\u0627\u06cc\u062c \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0633\u06cc\u0627\u0644 \u0645\u062d\u0627\u0633\u0628\u0627\u062a\u06cc (CFD) \u0628\u0631\u0627\u06cc \u0627\u06cc\u062c\u0627\u062f \u0648 \u0627\u0639\u062a\u0628\u0627\u0631\u0633\u0646\u062c\u06cc \u0645\u062f\u0644\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f \u06a9\u0647 \u0634\u0627\u0645\u0644 \u0648\u0627\u0628\u0633\u062a\u06af\u06cc \u0639\u0645\u0642 \u0648 \u062a\u0623\u062b\u06cc\u0631 \u0627\u0645\u0648\u0627\u062c \u0628\u0631 \u0631\u0648\u06cc \u06a9\u0627\u0631\u062f\u0633\u062a\u06cc \u0627\u0633\u062a.\u066a \u0645\u062f\u0644 \u0648 \u0631\u0648\u0634 \u0628\u0647 \u062f\u0633\u062a \u0622\u0648\u0631\u062f\u0646 \u0636\u0631\u0627\u06cc\u0628 \u0622\u0646 \u0645\u0648\u0631\u062f \u0628\u062d\u062b \u0642\u0631\u0627\u0631 \u06af\u0631\u0641\u062a\u0647 \u0648 \u0646\u0645\u0648\u0646\u0647 \u0647\u0627\u06cc\u06cc \u0627\u0632 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u0645\u0648\u0631\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0628\u0631\u0627\u06cc \u0628\u0647 \u062f\u0633\u062a \u0622\u0648\u0631\u062f\u0646 \u0636\u0631\u0627\u06cc\u0628 \u0645\u062f\u0644 \u0627\u0631\u0627\u0626\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a.\u0646\u0645\u0648\u0646\u0647 \u0627\u06cc \u0627\u0632 \u0639\u0645\u0644\u06cc\u0627\u062a \u0632\u06cc\u0631 \u06cc\u06a9 \u0645\u0633\u06cc\u0631 \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0627\u0631\u0627\u0626\u0647 \u0634\u062f\u0647 \u0648 \u0646\u062a\u0627\u06cc\u062c \u062d\u0627\u0635\u0644 \u0627\u0632 \u0645\u062f\u0644 \u0633\u0641\u0627\u0631\u0634 \u06a9\u0627\u0647\u0634 \u06cc\u0627\u0641\u062a\u0647 \u0628\u0631\u0627\u06cc \u0647\u0631 \u0627\u0633\u062a\u0631\u0627\u062a\u0698\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0645\u0642\u0627\u06cc\u0633\u0647 \u0645\u06cc \u0634\u0648\u062f.<\/p>\n<table class=\"table table-bordered table-primary\">\r\n<tr>\r\n\t<td>\r\n\t\u062a\u0648\u062c\u0647 \u06a9\u0646\u06cc\u062f \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0632\u0628\u0627\u0646 \u0627\u0646\u06af\u0644\u06cc\u0633\u06cc \u0627\u0633\u062a.\r\n\t<\/td>\r\n<\/tr>\r\n\t\r\n<tr>\r\n\t<td>\r\n     \u0628\u0631\u0627\u06cc \u0633\u0641\u0627\u0631\u0634 \u062a\u0631\u062c\u0645\u0647 \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u062f \u0628\u0647 \u06cc\u06a9\u06cc \u0627\u0632 \u0631\u0648\u0634 \u0647\u0627\u06cc \u062a\u0645\u0627\u0633\u060c \u067e\u06cc\u0627\u0645\u06a9\u060c \u062a\u0644\u06af\u0631\u0627\u0645 \u0648 \u06cc\u0627 \u0648\u0627\u062a\u0633 \u0627\u067e \u0628\u0627 \u0634\u0645\u0627\u0631\u0647 \u0632\u06cc\u0631 \u062a\u0645\u0627\u0633 \u0628\u06af\u06cc\u0631\u06cc\u062f:\r\n\t<br \/><br \/>\r\n\t09395106248\r\n\t\t\r\n\t\t\r\n\t<br \/><br \/>\r\n\t\t\u062a\u0648\u062c\u0647 \u06a9\u0646\u06cc\u062f \u06a9\u0647 \u0634\u0631\u0627\u06cc\u0637 \u062a\u0631\u062c\u0645\u0647 \u0628\u0647 \u0635\u0648\u0631\u062a \u0632\u06cc\u0631 \u0627\u0633\u062a:\r\n\t\t<br \/>\r\n\t\t<ul>\r\n\t\t<li>\r\n\t\t\u0642\u06cc\u0645\u062a \u0647\u0631 \u0635\u0641\u062d\u0647 \u062a\u0631\u062c\u0645\u0647 \u062f\u0631 \u062d\u0627\u0644 \u062d\u0627\u0636\u0631 40 \u0647\u0632\u0627\u0631 \u062a\u0648\u0645\u0627\u0646 \u0645\u06cc \u0628\u0627\u0634\u062f. \r\n\t\t<\/li>\r\n\t\t<li>\r\n\t\t\u062a\u062d\u0648\u06cc\u0644 \u0645\u0642\u0627\u0644\u0647 \u062a\u0631\u062c\u0645\u0647 \u0634\u062f\u0647 \u0628\u0647 \u0635\u0648\u0631\u062a \u0641\u0627\u06cc\u0644 \u0648\u0631\u062f \u0645\u06cc \u0628\u0627\u0634\u062f.\r\n\t\t<\/li>\r\n\t\t<li>\r\n\t\t\u0632\u0645\u0627\u0646 \u062a\u062d\u0648\u06cc\u0644 \u062a\u0631\u062c\u0645\u0647 \u0645\u0642\u0627\u0644\u0647 \u062f\u0631 \u0635\u0648\u0631\u062a \u062f\u0627\u0634\u062a\u0646 \u062a\u0639\u062f\u0627\u062f \u0635\u0641\u062d\u0627\u062a \u0639\u0627\u062f\u06cc \u0628\u06cc\u0646 3 \u062a\u0627 5 \u0631\u0648\u0632 \u062e\u0648\u0627\u0647\u062f \u0628\u0648\u062f.\r\n\t\t<\/li>\r\n\t\t\r\n\t\t<li>\r\n\t\t\u06a9\u06cc\u0641\u06cc\u062a \u062a\u0631\u062c\u0645\u0647 \u0628\u0633\u06cc\u0627\u0631 \u0628\u0627\u0644\u0627 \u0645\u06cc \u0628\u0627\u0634\u062f. \u0645\u0642\u0627\u0644\u0647 \u0641\u0642\u0637 \u062a\u0648\u0633\u0637 \u0645\u062a\u0631\u062c\u0645\u06cc\u0646 \u0628\u0627 \u0645\u062f\u0631\u06a9 \u062f\u0627\u0646\u0634\u06af\u0627\u0647\u06cc \u0645\u062a\u0631\u062c\u0645\u06cc \u062a\u0631\u062c\u0645\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.\r\n\t\t<\/li>\r\n\t\t<li>\r\n\t\t\u06a9\u0644\u06cc\u0647 \u062c\u062f\u0627\u0648\u0644 \u0648 \u0641\u0631\u0645\u0648\u0644 \u0647\u0627 \u0646\u06cc\u0632 \u062f\u0631 \u0641\u0627\u06cc\u0644 \u062a\u062d\u0648\u06cc\u0644\u06cc \u0648\u0631\u062f \u062f\u0631\u062c \u0645\u06cc\u200c\u0634\u0648\u0646\u062f.\r\n\t\t<\/li>\r\n\t<\/td>\r\n\t\r\n\t\r\n<\/tr>\r\n<\/table>\r\n\r\n\r\n\n","protected":false},"excerpt":{"rendered":"<p>\u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0627\u0646\u06af\u0644\u06cc\u0633\u06cc Modeling, Simulation, and Maneuvering 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