Research Article
An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System
Table 2
Warp, sweep line, and trawl winch model parameters.
| | Quantity | Symbol | Value |
| | Tether length of warp | (m) | 3000 | | Length of sweep line | (m) | 206 | | Diameter of warp | (m) | 0.032 | | Unit mass of warp | (kg/m) | 6.3 | | Unit length weight of warp in water | (N/m) | 55 | | Elasticity modulus of warp | (pa) | | | Cross section area of warp | (m2) | 0.0008 | | Elasticity modulus of sweep line | (pa) | | | Cross section area of sweep line | (m2) | 0.001 | | Initial radius of winch | (m) | 0.3825 | | Turns of each layer for trawl winch | | 50 | | Motor displacement | (m3) | 0.109 | | Rotary inertia of winch without warp | (N⋅s2/m) | 150 | | Damping coefficient of winch | (N⋅s/m) | 22 | | Friction coefficient of winch | (N) | 60 |
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