Thruster Modelling for Underwater Vehicle Using System Identification Method

• Main Authors: Mohd Aras, Mohd Shahrieel, Ab Rahman, Azhan
• Format: Article
• Language: English
• Published: InTech 2013
• Subjects: TC Hydraulic engineering. Ocean engineering
• 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/
• Institution: Universiti Teknikal Malaysia Melaka

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.