Thruster Modelling for Underwater Vehicle Using System Identification Method

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 thrusters with the MATLAB 2009 software. In this project, a...

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Main Authors: Mohd Aras, Mohd Shahrieel, Ab Rahman, Azhan
Format: Article
Language:English
Published: InTech 2013
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Online Access:http://eprints.utem.edu.my/id/eprint/7976/1/InTech-Thruster_modelling_for_underwater_vehicle_using_system_identification_method.pdf
http://eprints.utem.edu.my/id/eprint/7976/
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Institution: Universiti Teknikal Malaysia Melaka
Language: English
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spelling my.utem.eprints.79762015-05-28T03:53:18Z http://eprints.utem.edu.my/id/eprint/7976/ Thruster Modelling for Underwater Vehicle Using System Identification Method Mohd Aras, Mohd Shahrieel Ab Rahman, Azhan TC Hydraulic engineering. Ocean engineering 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 thrusters 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. InTech 2013-05-21 Article PeerReviewed application/pdf en http://eprints.utem.edu.my/id/eprint/7976/1/InTech-Thruster_modelling_for_underwater_vehicle_using_system_identification_method.pdf Mohd Aras, Mohd Shahrieel and Ab Rahman, Azhan (2013) Thruster Modelling for Underwater Vehicle Using System Identification Method. International Journal of Advanced Robotic Systems, Volume (252. 2). pp. 1-12. ISSN 1729-8806 DOI: 10.5772/56432
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
topic TC Hydraulic engineering. Ocean engineering
spellingShingle TC Hydraulic engineering. Ocean engineering
Mohd Aras, Mohd Shahrieel
Ab Rahman, Azhan
Thruster Modelling for Underwater Vehicle Using System Identification Method
description 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 thrusters 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.
format Article
author Mohd Aras, Mohd Shahrieel
Ab Rahman, Azhan
author_facet Mohd Aras, Mohd Shahrieel
Ab Rahman, Azhan
author_sort Mohd Aras, Mohd Shahrieel
title Thruster Modelling for Underwater Vehicle Using System Identification Method
title_short Thruster Modelling for Underwater Vehicle Using System Identification Method
title_full Thruster Modelling for Underwater Vehicle Using System Identification Method
title_fullStr Thruster Modelling for Underwater Vehicle Using System Identification Method
title_full_unstemmed Thruster Modelling for Underwater Vehicle Using System Identification Method
title_sort thruster modelling for underwater vehicle using system identification method
publisher InTech
publishDate 2013
url http://eprints.utem.edu.my/id/eprint/7976/1/InTech-Thruster_modelling_for_underwater_vehicle_using_system_identification_method.pdf
http://eprints.utem.edu.my/id/eprint/7976/
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