Rekabentuk dan analisis sistem pengawalan bagi sebuah kenderaan bawah-air
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Date
2005
Authors
Mohamed Yusof, Radzak
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Abstract
Underwater vehicles technology has became an important tool for maritime application
due to its capability in performing a variety of tasks such as pipeline cable inspection,
undersea environmental monitoring and military operations. In this research project, a
derivation of mathematical model was done by using a new underwater vehicle design
as a reference. This new underwater vehicle or USM Autonomous Undewater Vehicle
(USM-AUV) used two pairs of thruster motors in order to generate the propulsion
forces. From the underwater vehicle thrusters’ configuration, a new mathematical
model of an AUV has been proposed. This mathematical model is crucial in the vehicle
controller system design. This test bed vehicle was then utilized in the advanced
controller system design. A state space design approach has been used due to the fact
that this design approach is suitable for nonlinear system and multi input multi output
(MIMO) set-up. The full state feedback control scheme under the state space design
topic was then selected for the controller design. The design problems have been
divided to two separate components i.e. depth control and speed control systems.
Analysis of the control system performances was conducted in MATLAB/Simulink
control simulation software. A satisfactory performance has been achieved from the
designed controller system. The result shows that the controller performance for depth
control system and speed control system has been achieved.
Description
Master
Keywords
Electric and electronic engineering , Underwater vehicle , Controller system , Design