• Rolf Magnus Roos
7. semester, Elektronik og Datateknik, Diplomingeniør (Diplomuddannelse)
The goal of the following project is to
implement pitch manoeuvre upon an
ROV system, which is currently incapable
of doing this. The intention is that
the pitch controller is fitted onto the
ROV independent of the ROVs internal
controllers.
To allow the ROV to pitch, a thruster
is needed to generate the force that is
required. Where the main focus of this
project is to create the controller for the
thruster which allows the ROV to be
pitched.
To achieve this, a mathematical description
of first the ROV and the thruster
is extracted. The ROV model is based
on a force balance, describing the forces
impacting the pitch angle. It follows
from this that the force required to be
delivered for a given angle must be equal
in magnitude but in opposite direction.
The whole system is combined in the
Simulink toolbox in Matlab where the system
can be simulated and analysed. From
this a PI-controller is developed which allow
the pitch angle to be maintained by
the feedback system measuring the angle
of the ROV.
SprogEngelsk
Udgivelsesdato10 jan. 2017
Ekstern samarbejdspartnerSubC Partners
Lean Johansen lj@subcpartner.com
Anden
ID: 249109235