Design an intelligent controller for depth control of ROV using micro-box 2000/2000C

Lee , Dai Cong (2014) Design an intelligent controller for depth control of ROV using micro-box 2000/2000C. Project Report. UTeM. (Submitted)

Text Design an Intelligent Controller for Depth Control of ROV using Micro-box 20002000C 24pages.pdf Download (848kB)

Abstract

This project is about the design and develop of intelligent controller of ROV depth control using Micro 2000/2000C. There are some problem while developing a ROV and the most significant is the water leakage problem. The water leakage problem is highly cause by the wear and tear effect whenever someone open up the pressure hull. Time after time, the pressure hull will loose and enable the water to go into the pressure hull and damage the electronics part in it. The other major problem with a ROV is the thruster can easily drain up current from the battery source or power bank and this will limited the time to test and use the ROV. The current drainage problem will also cause the user to have the need to change the power source frequently by open up the pressure hull. The fuzzy logic controller is very new in the field of controller and thus do not have a proper guide to fine tune it and cause the tuning of it to be highly time costing. Therefore, a study on the effect of shifting the zero membership function will act as a general guide to further tune the fuzzy logic controller for future works. To solve the problem stated, a ROV Simulator which will not work underwater will be develop to test the control system. To build a ROV simulator, there will be need of using aluminum trial, thrusters, drivers, interface connector, and also controller. The depth control will be implement using Micro 2000/2000C with fuzzy logic controller. The tuned fuzzy logic controller will be adjust by shifting the zero membership function so that the effect of the adjustment can be study and act as a general guideline while tuning fuzzy logic controller. The result was being tabulated, plotted and analyze to determine the outcome of the project. The result shows that the fuzzy logic controller can be implement to the ROV simulator. The result of this project shows that, by shifting the zero membership function of the fuzzy logic controller the performance of the fuzzy logic controller generally decrease compare to that of the original “center” position of the zero membership function.

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