International Journal of Advanced Robotic Systems · 2013 · 35 citations · 9 references
EngineeringMarine EngineeringOcean EngineeringMarine RoboticsRoboticsUnderwater RoboticsAutonomous Underwater VehiclesPropulsion SystemsRemotely Operated VehiclesSubsea RoboticsAutonomous Underwater Vehicle ControlAutonomous Underwater Vehicle SystemsControl System IdentificationPressure Measurement SystemsRemotely Operated Vehicle ControlThruster IdentificationThruster Response ModelingUnderwater Vehicle Control
Abstract This paper describes a study of thruster modelling for a remotely operated underwater vehicle (ROV) by system identification using Microbox 2000/2000C. Microbox 2000/2000C is an XPC target machine device to interface between an ROV thruster with the MATLAB 2009 software. In this project, a model of the thruster will be developed first so that the system identification toolbox in MATLAB can be used. This project also presents a comparison of mathematical and empirical modelling. The experiments were carried out by using a mini compressor as a dummy depth pressure applied to a pressure sensor. The thruster model will thrust and submerge until it reaches a set point and maintain the set point depth. The depth was based on pressure sensor measurement. A conventional proportional controller was used in this project and the results gathered justified its selection.
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