Control design and simulation of an underwater vehicle
In this thesis, a simulation package for the Six Degrees of Freedom (6DOF) motion of an underwater vehicle is developed. Mathematical modeling of an underwater vehicle is done and the parameters needed to write such a simulation package are obtained from an existing underwater vehicle available i...
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| Format: | Thesis |
| Language: | en en en |
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2011
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| Online Access: | http://eprints.uthm.edu.my/2668/1/24p%20KHLID%20ABOBAKER%20MOHAMED%20HAMAD.pdf http://eprints.uthm.edu.my/2668/2/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/2668/3/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20WATERMARK.pdf http://eprints.uthm.edu.my/2668/ |
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| _version_ | 1833417129950445568 |
|---|---|
| author | Mohamed Hamad, Khlid Abobaker |
| author_facet | Mohamed Hamad, Khlid Abobaker |
| author_sort | Mohamed Hamad, Khlid Abobaker |
| building | UTHM Library |
| collection | Institutional Repository |
| content_provider | Universiti Tun Hussein Onn Malaysia |
| content_source | UTHM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | In this thesis, a simulation package for the Six Degrees of Freedom (6DOF)
motion of an underwater vehicle is developed. Mathematical modeling of an
underwater vehicle is done and the parameters needed to write such a
simulation package are obtained from an existing underwater vehicle available in
the literature.
Basic equations of motion are developed to simulate the motion of the
underwater vehicle and the parameters needed for the hydrodynamic modeling of
the vehicle is obtained from the available literature.
6DOF simulation package prepared for the underwater vehicle was developed
using the MATLAB environment. S-function hierarchy is developed using
the same platform with C++ programming language. With the usage of Sfunctions
the problems related to the speed of the platform have been
eliminated. The use of S- function hierarchy brought out the opportunity of
running the simulation package on other independent platforms and get results
for the simulation.
Keywords: Underwater Vehicle Simulation, Virtual Reality Modeling
Language (VRML), MATLAB S-function, Simulink, C++, 6DOF. |
| format | Thesis |
| id | my.uthm.eprints-2668 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | en en en |
| publishDate | 2011 |
| record_format | eprints |
| spelling | my.uthm.eprints-26682021-11-01T04:09:46Z http://eprints.uthm.edu.my/2668/ Control design and simulation of an underwater vehicle Mohamed Hamad, Khlid Abobaker TC Hydraulic engineering. Ocean engineering TC1501-1800 Ocean engineering In this thesis, a simulation package for the Six Degrees of Freedom (6DOF) motion of an underwater vehicle is developed. Mathematical modeling of an underwater vehicle is done and the parameters needed to write such a simulation package are obtained from an existing underwater vehicle available in the literature. Basic equations of motion are developed to simulate the motion of the underwater vehicle and the parameters needed for the hydrodynamic modeling of the vehicle is obtained from the available literature. 6DOF simulation package prepared for the underwater vehicle was developed using the MATLAB environment. S-function hierarchy is developed using the same platform with C++ programming language. With the usage of Sfunctions the problems related to the speed of the platform have been eliminated. The use of S- function hierarchy brought out the opportunity of running the simulation package on other independent platforms and get results for the simulation. Keywords: Underwater Vehicle Simulation, Virtual Reality Modeling Language (VRML), MATLAB S-function, Simulink, C++, 6DOF. 2011-11 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/2668/1/24p%20KHLID%20ABOBAKER%20MOHAMED%20HAMAD.pdf text en http://eprints.uthm.edu.my/2668/2/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20COPYRIGHT%20DECLARATION.pdf text en http://eprints.uthm.edu.my/2668/3/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20WATERMARK.pdf Mohamed Hamad, Khlid Abobaker (2011) Control design and simulation of an underwater vehicle. Masters thesis, Universiti Tun Hussein Malaysia. |
| spellingShingle | TC Hydraulic engineering. Ocean engineering TC1501-1800 Ocean engineering Mohamed Hamad, Khlid Abobaker Control design and simulation of an underwater vehicle |
| title | Control design and simulation of an underwater vehicle |
| title_full | Control design and simulation of an underwater vehicle |
| title_fullStr | Control design and simulation of an underwater vehicle |
| title_full_unstemmed | Control design and simulation of an underwater vehicle |
| title_short | Control design and simulation of an underwater vehicle |
| title_sort | control design and simulation of an underwater vehicle |
| topic | TC Hydraulic engineering. Ocean engineering TC1501-1800 Ocean engineering |
| url | http://eprints.uthm.edu.my/2668/1/24p%20KHLID%20ABOBAKER%20MOHAMED%20HAMAD.pdf http://eprints.uthm.edu.my/2668/2/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/2668/3/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20WATERMARK.pdf http://eprints.uthm.edu.my/2668/ |
| url_provider | http://eprints.uthm.edu.my/ |