LATERAL PLANE MODEL SIMULATION AND GUIDANCE SYSTEM DESIGN IN HYBRID UNDERWATER GLIDER
Abstract— Hybrid Underwater Glider (HUG) is one type of Autonomous Underwater Vehicle (AUV) with low power consumption that has high maneuverability so that it is able to exploration the sea conditions with very long distances. Kinematic and dynamic modeling of vehicles based on a combination of...
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| Format: | Theses |
| Language: | Indonesia |
| Subjects: | |
| Online Access: | https://digilib.itb.ac.id/gdl/view/45137 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Abstract— Hybrid Underwater Glider (HUG) is one type of Autonomous
Underwater Vehicle (AUV) with low power consumption that has high
maneuverability so that it is able to exploration the sea conditions with very long
distances. Kinematic and dynamic modeling of vehicles based on a combination
of mathematical equations derivative will give result in the development of an
efficient system. In this study, it was explained about building a mathematical
model of Hybrid Underwater Glider (HUG) vehicles in the lateral plane. The
parameters used for lateral field modeling are obtained by the Computational
Fluid Dynamics (CFD) method. The model obtained is a non-linear model. The
modeling results are then simulated using MATLAB / Simulink by giving input in
the form of several variable values for bow - stern thruster actuators and buoyancy
engines, or can be used rudder actuators and buoyancy engines in the conditions
of HUG having a minimum speed (u) to produce motion in the field lateral. The
Line of Sight (LOS) method is used in HUG, so that HUG is able to go to the
specified waypoint by setting the heading angle. The heading angle as the output
of the guide system is used as the reference angle of the AUV mode. The guiding
system simulation is using MatlabR2016. Based on the results of the simulation of
the whole HUG system, it can be concluded that the guidance system with Line of
Sight is able to direct the HUG towards the destination waypoint. |
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