Design And Analysis A Controller For AUV Path Navigation System

Mohammad, Fahmi Amirul (2019) Design And Analysis A Controller For AUV Path Navigation System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Design And Analysis A Controller For AUV Path Navigation System.pdf - Submitted Version Download (4MB)

Abstract

The uses of Autonomous Underwater Vehicle (AUV) is widely used in multiple field with each AUV have their own specific t ask given. AUV is designed to ease human work and extend the capability of human that are unable to do it such as operate for a long period of time in underwater and operate in a high-risk condition. For example, AUV been used in Oil and Gas industries to check underwater piping and it also been used in military as a valuable asset in surveying. AUV is not only been used in heavy industries but it is also being used for recreational purposes too. Most of the AUV have the same problem that hard to overcome which is to maintain its movement path to desire location. The water current is unpredictable this will make the AUV to drift away from it s original path especially when the AUV operate in a deep ocean where the water current is really strong. Maintaining the AUV path is one of the big challenges in designing AUV so that it can operate efficiently with less disturbance towards its movement. If the AUV deviate away from its movement path this will causes the AUV to reach the desire lo cation longer time as the AUV need to return to its original path and worst scenario the AUV might not reach its destination. Therefore, this project was carried out to design and analysis a controller for the AUV path navigation system. A PID controller was chose as the controller for the AUV. The mathematical modeling of the AUV is obtain and Simulink software were used to do the simulation of the AUV. The proportional gain , integral gain and derivative gain of the PID is study to understand the effect of each gain towards the speed and position in of the AUV. Each PID gain effect the speed and positioning of the AUV differently and each gain is carefully selected to design a PID configuration that can improve the speed and position. The PID configuration undergoes fine adjustment to tweak some error. During the fine adjustment certain PID gain were changed to suit the configuration and the result is some gain manage to improve the speed and position.

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