Trajectory generation for automatic emersion/immersion manoeuvers of first generation TEC

摘要

Several manufacturers have developed devices with which to harness tidal/currents power in areas where the depth does not exceed 40 meters. These are the so-called first generation tidal energy converters (TECs). The maintenance tasks carried out on these devices therefore require them to be extracted from the base to the sea surface and subsequently placed back on the base. Special high performance ships are required for these tasks, which mean high maintenance costs. The automation of emersion and immersion maneuvers will undoubtedly lead to lower costs, given that ships with less demanding requirements for the above maintenance tasks will be required. This article presents a trajectory generation proposal for depth control algorithms for first generation TEC when performing automatic emersion/immersion maneuvers. These trajectories will generate smooth movements with bounded velocities, accelerations, and even jerks (derivative of acceleration). The selection of the best type of trajectories it is briefly justified.