文章基本信息

标题：Thruster Modelling for Underwater Vehicle Using System Identification Method
本地全文：下载
作者：Mohd Shahrieel Mohd Aras ; Shahrum Shah Abdullah ; Azhan Ab. Rahman 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/56432
语种：English
出版社：SAGE Publications
摘要：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.
关键词：System identification (SI); Pressure Sensor; Remotely Operated Underwater Vehicle; Microbox 2000/2000C