Underwater vehicle buoyancy control (surface)

Khairul Hafiz , Shafad (2014) Underwater vehicle buoyancy control (surface). Project Report. UTeM. (Submitted)

Text UNDERWATER VEHICLE BUOYANCY CONTROL (SURFACE) 24pages.pdf Download (324kB)

Abstract

In general the Remotely Operated Vehicle (ROV) consists of two methods which are using thruster and buoyancy control. Since the thruster required high power demand, so this project will used ballast tank as buoyancy control based on the Archimedes principle. This project consists of three objectives which are to design a ballast tank, to design PID controller in order to improve the performance of the ballast tank, and to compare the algorithm system of the ballast tank between the system control level from surface and the system control level from bottom. Pressure sensor from model MPX4250GP is used in this project as control feedback system. Besides, pressure sensor also converts analog input to voltage (v) in order to compare with desired input set. In this project, mechanical design will focus on the construction of the ballast tank that can move the piston to pump water in and pump water out effectively. Next, PID controller will be implemented in the real hardware in order to improve the performance of the ballast tank. This PID controller will be design by using PID tuning method in the Matlab. Experiment results shown that the system with PID controller is able to perform better performance in term of rise time and settling time, and able to maintain disturbance up to 120g for 300rpm and 80g for 200rpm. At the end of this project, the algorithm system of the ballast tank have been compared between the system control level from surface and the system control level from bottom. It is found that future ballast tank can use both algorithms system (by switching) to control depth level based on suitable depth error.

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