Abstract
Shallow water zones, including lakes, ponds, creeks, and rivers, play a prominent role in the spiritual culture and economy of Vietnamese people throughout history. Therefore, numerous researches have been conducted in regard to this topic for many purposes, most of which focus on elevating the quality of life and safety. With the aid of new technology, modern platforms gradually replace conventional methods and reach a higher level of efficiency and convenience. This paper presents the research on design and control of Remotely Operated Vehicle (ROV) belonging to National key Laboratory of Digital Control and System Engineering. Basically, it is controlled by human pilots to move underwater and perform specifically pre-assigned tasks. The power supply and communication channel for the vehicle are connected from an onshore station via cable systems. There are several stages of the pipeline in implementing a full-scale ROV platform that must be studied carefully. Prior to the experiments in practical conditions, the proposed 3D model designed by SOLIDWORKS® and MATLAB Simulink® mathematical model analysis firstly provide a nonlinear plant in order to apply classical PID controllers and evaluate their feasibility through simulation process. The outer frame protects other components from being damaged or unattached, while the thruster allocation strategy from the simulated model enables flexibility in motion. A system of sensors and cameras collects data from an underwater environment for on-the-spot monitoring, or they can be captured for further post-analysis processes. After assembling all parts into a whole model, we launched the vehicle at the maximum depth of a pool as the condition of a shallow water survey. Optimistic experimental results have proved the ability of controllers even in case of the presence of external disturbances.
Highlights
Vietnam is a coastal country which is packed with activities in national defense, economy, environment and tourism
Vector η is in the reference of inertial earth-fixed coordinate system, whereas the velocity vector υ and external force and moment vector τ that acts on Remotely Operated Vehicle Control (ROV) body must be expressed in body-fixed coordinate system (BODY) reference frame
Based on the model built in previous sections, a set of parameters is inputted into function blocks so as to tune the Proportional Integral Derivative DC (PID) coefficients to receive the most satisfactory response
Summary
Vietnam is a coastal country which is packed with activities in national defense, economy, environment and tourism. The development of underwater vehicles to support and gradually replace human factor is essential to ensure the workplace safety while performing given tasks according to technical requirements. There are two types of diving robots: Remotely Operated Vehicle Control (ROV) and Autonomous Underwater Vehicle (AUV) 1. AUV is capable of working automatically, ROV provides on-the-spot surveillance without being limited by operation time due to the direct power supply and communication through cables. The 3D mechanical model is designed based on reference from previous related works, using SolidWorks software 2. Simulation for mathematical model using MATLAB Simulink will be performed to observe the response of position, velocity and acceleration values over time. The output of this research is a ROV model for actual tests, applying the programmed controller
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