Thruster Modelling for Underwater Vehicle Using System Identification Method-Reference-Cited by-同舟云学术

Thruster Modelling for Underwater Vehicle Using System Identification Method

Published:2013-01-01 Issue:5 Volume:10 Page:252
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Aras Mohd Shahrieel Mohd¹,Abdullah Shahrum Shah²,Rahman Azhan Ab.¹,Aziz Muhammad Azhar Abd²

Affiliation:

1. Department of Mechatronics, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, Durian Tunggal, Melaka, Malaysia

2. Department of Electric and Electronics, Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, International Campus Jalan Semarak, Kuala Lumpur, Malaysia

Abstract

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.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/56432

Reference13 articles.

1. Problem Identification for Underwater Remotely Operated Vehicle (ROV): A Case Study

2. Fuzzy logic PID based control design and performance for a pectoral fin propelled unmanned underwater vehicle

3. Chin C.S., Lum S.H. Rapid modeling and control systems prototyping of a marine robotic vehicle with model uncertainties using xPC target system. Ocean Engineering, Elsevier, Amsterdam, The Netherlands, 2011; 38 (17–18). pp. 2128–2141.

Cited by 15 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Underwater remotely operated vehicle control system with optimized PID based on improved particle swarm optimization;Desalination and Water Treatment;2023-12

2. Trajectory tracking control of an underwater vehicle in the presence of disturbance, measurement errors, and actuator dynamic and nonlinearity;Robotica;2023-07-26

3. Remotely Operated Underwater Vehicle (ROV);2023 2nd International Conference on Advancements in Electrical, Electronics, Communication, Computing and Automation (ICAECA);2023-06-16

4. Review of low cost micro remotely operated underwater vehicle;Ocean Engineering;2022-12

5. Dynamic Analysis and Path Planning of a Turtle-Inspired Amphibious Spherical Robot;Micromachines;2022-12-01