Thruster Modelling for Underwater Vehicle Using System Identification Method
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 thrusters with the MATLAB 2009 software. In this project, a...
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InTech
2013
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| Online Access: | http://eprints.utem.edu.my/id/eprint/7976/1/InTech-Thruster_modelling_for_underwater_vehicle_using_system_identification_method.pdf http://eprints.utem.edu.my/id/eprint/7976/ |
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| _version_ | 1832716291838836736 |
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| author | Mohd Aras, Mohd Shahrieel Ab Rahman, Azhan |
| author_facet | Mohd Aras, Mohd Shahrieel Ab Rahman, Azhan |
| author_sort | Mohd Aras, Mohd Shahrieel |
| building | UTEM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknikal Malaysia Melaka |
| content_source | UTEM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | 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 thrusters 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. |
| format | Article |
| id | my.utem.eprints-7976 |
| institution | Universiti Teknikal Malaysia Melaka |
| language | en |
| publishDate | 2013 |
| publisher | InTech |
| record_format | eprints |
| spelling | my.utem.eprints-79762015-05-28T03:53:18Z http://eprints.utem.edu.my/id/eprint/7976/ Thruster Modelling for Underwater Vehicle Using System Identification Method Mohd Aras, Mohd Shahrieel Ab Rahman, Azhan TC Hydraulic engineering. Ocean engineering 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 thrusters 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. InTech 2013-05-21 Article PeerReviewed application/pdf en http://eprints.utem.edu.my/id/eprint/7976/1/InTech-Thruster_modelling_for_underwater_vehicle_using_system_identification_method.pdf Mohd Aras, Mohd Shahrieel and Ab Rahman, Azhan (2013) Thruster Modelling for Underwater Vehicle Using System Identification Method. International Journal of Advanced Robotic Systems, Volume (252. 2). pp. 1-12. ISSN 1729-8806 DOI: 10.5772/56432 |
| spellingShingle | TC Hydraulic engineering. Ocean engineering Mohd Aras, Mohd Shahrieel Ab Rahman, Azhan Thruster Modelling for Underwater Vehicle Using System Identification Method |
| title | Thruster Modelling for Underwater Vehicle Using
System Identification Method |
| title_full | Thruster Modelling for Underwater Vehicle Using
System Identification Method |
| title_fullStr | Thruster Modelling for Underwater Vehicle Using
System Identification Method |
| title_full_unstemmed | Thruster Modelling for Underwater Vehicle Using
System Identification Method |
| title_short | Thruster Modelling for Underwater Vehicle Using
System Identification Method |
| title_sort | thruster modelling for underwater vehicle using
system identification method |
| topic | TC Hydraulic engineering. Ocean engineering |
| url | http://eprints.utem.edu.my/id/eprint/7976/1/InTech-Thruster_modelling_for_underwater_vehicle_using_system_identification_method.pdf http://eprints.utem.edu.my/id/eprint/7976/ |
| url_provider | http://eprints.utem.edu.my/ |