The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle

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dc.contributor.advisorMouton, Hendrik Daniëlen_ZA
dc.contributor.authorFinbow, Maximillianen_ZA
dc.date.accessioned2016-07-20T12:31:46Z
dc.date.available2016-07-20T12:31:46Z
dc.date.issued2016en_ZA
dc.description.abstractA preliminary mathematical model for the UCT SEAHOG Remotely operated underwater vehicle (ROV) is developed, including estimation of the rigid body, hydrodynamic and hydrostatic properties of the robot. A single state thruster model is developed and verified according to real life test data. A closed-loop speed controller is developed for the thruster module using a standard PI scheme and is implemented on an MSP430 microcontroller using software fixed-point algorithms. The complete ROV system is simulated in Simulink® in an open-loop configuration to gain insight into the expected motion from the vehicle. Controllers for depth and heading holding are designed using standard PID linearized control methods with gain scheduling and are then assessed within the complete system in a simulation environment. In addition, upgrades and maintenance are performed on the Power Pod, light and camera modules. Redesign, manufacture and testing of the SEAHOG junction box is performed, including a design solution to connect the tether power and fibre-optic lines at the surface and on the ROV. An extensive overhaul of the SEAHOG GUI is performed, utilising multicore processing architecture in LabVIEW and resulting in a user-orientated interface capable of controlling and monitoring all existing system data from the robot.en_ZA
dc.identifier.apacitationFinbow, M. (2016). <i>The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle</i>. (Thesis). University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering. Retrieved from http://hdl.handle.net/11427/20538en_ZA
dc.identifier.chicagocitationFinbow, Maximillian. <i>"The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle."</i> Thesis., University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering, 2016. http://hdl.handle.net/11427/20538en_ZA
dc.identifier.citationFinbow, M. 2016. The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle. University of Cape Town.en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - Finbow, Maximillian AB - A preliminary mathematical model for the UCT SEAHOG Remotely operated underwater vehicle (ROV) is developed, including estimation of the rigid body, hydrodynamic and hydrostatic properties of the robot. A single state thruster model is developed and verified according to real life test data. A closed-loop speed controller is developed for the thruster module using a standard PI scheme and is implemented on an MSP430 microcontroller using software fixed-point algorithms. The complete ROV system is simulated in Simulink® in an open-loop configuration to gain insight into the expected motion from the vehicle. Controllers for depth and heading holding are designed using standard PID linearized control methods with gain scheduling and are then assessed within the complete system in a simulation environment. In addition, upgrades and maintenance are performed on the Power Pod, light and camera modules. Redesign, manufacture and testing of the SEAHOG junction box is performed, including a design solution to connect the tether power and fibre-optic lines at the surface and on the ROV. An extensive overhaul of the SEAHOG GUI is performed, utilising multicore processing architecture in LabVIEW and resulting in a user-orientated interface capable of controlling and monitoring all existing system data from the robot. DA - 2016 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2016 T1 - The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle TI - The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle UR - http://hdl.handle.net/11427/20538 ER - en_ZA
dc.identifier.urihttp://hdl.handle.net/11427/20538
dc.identifier.vancouvercitationFinbow M. The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle. [Thesis]. University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering, 2016 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/20538en_ZA
dc.language.isoengen_ZA
dc.publisher.departmentDepartment of Mechanical Engineeringen_ZA
dc.publisher.facultyFaculty of Engineering and the Built Environment
dc.publisher.institutionUniversity of Cape Town
dc.subject.otherMechanical Engineeringen_ZA
dc.subject.otherRoboticsen_ZA
dc.titleThe dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicleen_ZA
dc.typeMaster Thesis
dc.type.qualificationlevelMasters
dc.type.qualificationnameMSc (Eng)en_ZA
uct.type.filetypeText
uct.type.filetypeImage
uct.type.publicationResearchen_ZA
uct.type.resourceThesisen_ZA
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