Thruster Modelling for Underwater Vehicle Using System Identification Method | Zendy

Mohd Shahrieel Mohd Aras | Zendy; Shahrum Shah Abdullah | Zendy; Azhan Ab Rahman | Zendy; Muhammad Azhar Abd Aziz | Zendy

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Thruster Modelling for Underwater Vehicle Using System Identification Method

Author(s) -

Mohd Shahrieel Mohd Aras,

Shahrum Shah Abdullah,

Azhan Ab Rahman,

Muhammad Azhar Abd Aziz

Publication year - 2013

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/56432

Subject(s) - computer science , remotely operated underwater vehicle , underwater , matlab , thrust , controller (irrigation) , system identification , identification (biology) , software , interface (matter) , simulation , point (geometry) , pressure sensor , marine engineering , aerospace engineering , robot , mechanical engineering , artificial intelligence , engineering , mobile robot , data modeling , mathematics , database , oceanography , maximum bubble pressure method , biology , operating system , parallel computing , agronomy , programming language , botany , geology , geometry , bubble

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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