A Simulation Study of Wave Disturbance Model for Underwater Vehicle

Abstract

This study focuses on challenges that occurred on underwater vehicles (UV) that is wave disturbance. There have been many studies and research to develop underwater vehicles that can overcome challenges during the exploration due to variation of water composition and underwater condition that can perform tasks well to achieve goals. However, the presence of wave disturbance that comes in many types and different forces somehow can affect the movement of the vehicle during its dive and could risk the vehicle to component damage. There are several research regarding methods that can be used to show UV performance under disturbance. By choosing the most relevant model design from literature review, a model of wave disturbance for underwater vehicle based on mathematical model was analyzed. The chosen wave disturbance model design combined with existing UV model in Simulink was analyzed at three different frequencies in open-loop configuration. A linearized model comprise of second-order transfer function was obtained. A linear controller was then designed using MATLAB Control System Designer to obtain the PID gain parameters. The performance of nonlinear UV with Wave Disturbance was successfully analyzed in open-loop configuration (without controller) and in closed-loop configuration using linear PID controller. Two different sets of controller gain settings, represented as Case A and Case B, tested on the closed-loop model gives the same performance. However, controller setting Case B outperform case A as it consumes smaller control torque to achieve the same performance.