Implementation of pitch on an ROV: Retrofitting a Cougar XT
Translated title
Pitch implemenetering på en ROV
Author
Term
7. term
Education
Publication year
2017
Submitted on
2017-01-10
Abstract
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.
Keywords
Control Systems ; SubC Partner ; Feedback system ; Black box modelling ; ROV ; Matlab ; Simulink ; Pitch
Documents