Control of an autonomous underwater vehicle
In this thesis, an Autonomous Underwater Vehicle (AUV) was designed, built and tested. The dynamics of the AUV was modelled based on Fossen’s model and simplified due to the symmetries of the vehicle. With the hydrodynamic parameters obtained from computational fluid dynamics, the dynamics of the AU...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Final Year Project (FYP) |
| Language: | English |
| Published: |
Nanyang Technological University
2020
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/141869 |
| _version_ | 1826120414311481344 |
|---|---|
| author | Lam, Yue Ren |
| author2 | Basman Elhadidi |
| author_facet | Basman Elhadidi Lam, Yue Ren |
| author_sort | Lam, Yue Ren |
| collection | NTU |
| description | In this thesis, an Autonomous Underwater Vehicle (AUV) was designed, built and tested. The dynamics of the AUV was modelled based on Fossen’s model and simplified due to the symmetries of the vehicle. With the hydrodynamic parameters obtained from computational fluid dynamics, the dynamics of the AUV was simulated using the Simulink software. PID controllers were designed for controlling the roll, pitch and yaw of the AUV. Sway control was eliminated from the design to reduce its complexity, while feedback loops could not be designed for the surge and heave due to limited sensor readings. Simulation and experimental results were compared for various tests, which included open-loop as well as close-loop tests. |
| first_indexed | 2024-10-01T05:16:04Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/141869 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:16:04Z |
| publishDate | 2020 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1418692023-03-04T19:32:39Z Control of an autonomous underwater vehicle Lam, Yue Ren Basman Elhadidi School of Mechanical and Aerospace Engineering mbasman@ntu.edu.sg Engineering::Mechanical engineering::Control engineering In this thesis, an Autonomous Underwater Vehicle (AUV) was designed, built and tested. The dynamics of the AUV was modelled based on Fossen’s model and simplified due to the symmetries of the vehicle. With the hydrodynamic parameters obtained from computational fluid dynamics, the dynamics of the AUV was simulated using the Simulink software. PID controllers were designed for controlling the roll, pitch and yaw of the AUV. Sway control was eliminated from the design to reduce its complexity, while feedback loops could not be designed for the surge and heave due to limited sensor readings. Simulation and experimental results were compared for various tests, which included open-loop as well as close-loop tests. Bachelor of Engineering (Aerospace Engineering) 2020-06-11T06:14:55Z 2020-06-11T06:14:55Z 2020 Final Year Project (FYP) https://hdl.handle.net/10356/141869 en C009 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Mechanical engineering::Control engineering Lam, Yue Ren Control of an autonomous underwater vehicle |
| title | Control of an autonomous underwater vehicle |
| title_full | Control of an autonomous underwater vehicle |
| title_fullStr | Control of an autonomous underwater vehicle |
| title_full_unstemmed | Control of an autonomous underwater vehicle |
| title_short | Control of an autonomous underwater vehicle |
| title_sort | control of an autonomous underwater vehicle |
| topic | Engineering::Mechanical engineering::Control engineering |
| url | https://hdl.handle.net/10356/141869 |
| work_keys_str_mv | AT lamyueren controlofanautonomousunderwatervehicle |