DESIGN AND IMPLEMENTATION OF CONTROL SYSTEM FOR UNDERWATER GLIDER GANESHBLUE

• Main Author: TAUFIQURRAHMAN - NIM : 23214093 , IMAM
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/22549
• Institution: Institut Teknologi Bandung

Autonomous Underwater Glider is one of the renewal underwater vehicle. This vehicle is also one of the autonomous underwater vehicle that are being developed in Indonesia. Glide ability is obtained by controlling the buoyancy and attitude of the vehicle by using the actuator within the vehicle. Glider mechanism is expected to provide energy resistance for autonomous underwater vehicle in order to gain the cruising range while performing a mission. The control system on the vehicle consists of three parts i.e pitch control, buoyancy engine control, and yaw control. The buoyancy and pitch controls on the vehicle sequentially refer to the finite state machine with pitch angle and depth of diving inputs to obtain one gliding cycle. Meanwhile, controlling yaw is done through the rudder for guiding system. This thesis is focused on designing and implementating of control sistem for Autonomous Underwater Glider using PID anti windup. The control Sistem is implemented on the TS-7250V2 device with ARM microcontroller, the mathematical model of the vehicle is represented by transfer function embedded in MATLAB, and these systems were integrated by using the hardware-in-the-loop simulation (HILS). Furthermore, control system were tested in small scale testing at SARAGA swimming pool. The TS-7250-V2 is chosen because it complies industrial standard, has high computing ability, and offers minimal power consumption. Over all, control system design consists of full and half controls. Each of these designs has their weaknesses and advantages. Full control design is more precision than half control whereas half control design offers more energy efficiency because of less active actuator time than using full control