Underwater Glider Modelling And Analysis For Variable Control Parameters
Underwater glider is a type of autonomous underwater vehicle that can glide by controlling their buoyancy and attitude using internal actuators. By changing the vehicle’s buoyancy intermittently, forward motion can be achieved. Deriving the mathematical model directly from the system can be too comp...
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| Format: | Thesis |
| Language: | English |
| Published: |
2014
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| Online Access: | http://eprints.usm.my/46186/1/Nur%20Afande%20Bin%20Ali%20Hussain24.pdf |
| _version_ | 1797011525837258752 |
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| author | Hussain, Nur Afande Ali |
| author_facet | Hussain, Nur Afande Ali |
| author_sort | Hussain, Nur Afande Ali |
| collection | USM |
| description | Underwater glider is a type of autonomous underwater vehicle that can glide by controlling their buoyancy and attitude using internal actuators. By changing the vehicle’s buoyancy intermittently, forward motion can be achieved. Deriving the mathematical model directly from the system can be too complicated due to time constraints in prototyping development processes. This thesis presents the early development of the USM underwater glider platform consist of prototype development involves vehicle concept design using SolidworksTM, vehicle simulations by Computational Fluid Dynamics (CFD) and alternative way of modelling known as system identification in order to obtain the underwater glider system model. The appropriate control parameters for underwater glider control were determined by selecting the ballast rate as the input. Three aspects of the dynamics of a glider will be observed, i.e. net buoyancy, depth of the glider and pitching angle. The best three parametric models that are able to estimate the system correctly are chosen, and the fit between measured and estimated outputs is presented in order to get an optimal underwater glider vehicle model for USM underwater glider platform. |
| first_indexed | 2024-03-06T15:35:34Z |
| format | Thesis |
| id | usm.eprints-46186 |
| institution | Universiti Sains Malaysia |
| language | English |
| last_indexed | 2024-03-06T15:35:34Z |
| publishDate | 2014 |
| record_format | dspace |
| spelling | usm.eprints-461862020-02-12T05:14:38Z http://eprints.usm.my/46186/ Underwater Glider Modelling And Analysis For Variable Control Parameters Hussain, Nur Afande Ali TK1-9971 Electrical engineering. Electronics. Nuclear engineering Underwater glider is a type of autonomous underwater vehicle that can glide by controlling their buoyancy and attitude using internal actuators. By changing the vehicle’s buoyancy intermittently, forward motion can be achieved. Deriving the mathematical model directly from the system can be too complicated due to time constraints in prototyping development processes. This thesis presents the early development of the USM underwater glider platform consist of prototype development involves vehicle concept design using SolidworksTM, vehicle simulations by Computational Fluid Dynamics (CFD) and alternative way of modelling known as system identification in order to obtain the underwater glider system model. The appropriate control parameters for underwater glider control were determined by selecting the ballast rate as the input. Three aspects of the dynamics of a glider will be observed, i.e. net buoyancy, depth of the glider and pitching angle. The best three parametric models that are able to estimate the system correctly are chosen, and the fit between measured and estimated outputs is presented in order to get an optimal underwater glider vehicle model for USM underwater glider platform. 2014 Thesis NonPeerReviewed application/pdf en http://eprints.usm.my/46186/1/Nur%20Afande%20Bin%20Ali%20Hussain24.pdf Hussain, Nur Afande Ali (2014) Underwater Glider Modelling And Analysis For Variable Control Parameters. Masters thesis, Universiti Sains Malaysia. |
| spellingShingle | TK1-9971 Electrical engineering. Electronics. Nuclear engineering Hussain, Nur Afande Ali Underwater Glider Modelling And Analysis For Variable Control Parameters |
| title | Underwater Glider Modelling And Analysis For Variable Control Parameters |
| title_full | Underwater Glider Modelling And Analysis For Variable Control Parameters |
| title_fullStr | Underwater Glider Modelling And Analysis For Variable Control Parameters |
| title_full_unstemmed | Underwater Glider Modelling And Analysis For Variable Control Parameters |
| title_short | Underwater Glider Modelling And Analysis For Variable Control Parameters |
| title_sort | underwater glider modelling and analysis for variable control parameters |
| topic | TK1-9971 Electrical engineering. Electronics. Nuclear engineering |
| url | http://eprints.usm.my/46186/1/Nur%20Afande%20Bin%20Ali%20Hussain24.pdf |
| work_keys_str_mv | AT hussainnurafandeali underwaterglidermodellingandanalysisforvariablecontrolparameters |