Thruster Modelling for Underwater Vehicle Using System Identification Method Regular Paper

被引：19

作者：

Aras, Mohd Shahrieel Mohd ^{[1
]}

Abdullah, Shahrum Shah ^{[2
]}

Ab Rahman, Azhan ^{[1
]}

Abd Aziz, Muhammad Azhar ^{[2
]}

机构：

[1] Univ Tekn Malaysia Melaka, Dept Mechatron, Fac Elect Engn, Durian Tunggal, Melaka, Malaysia

[2] Univ Teknol Malaysia, Malaysia Japan Int Inst Technol, Dept Elect & Elect, Kuala Lumpur, Malaysia

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2013年 / 10卷

关键词：

System identification (SI); Pressure Sensor; Remotely Operated Underwater Vehicle; Microbox; 2000/2000C;

D O I：

10.5772/56432

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页数：12

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