碩士 / 國立海洋大學 / 船舶機械工程學系 / 83 / Remotely operated vechicle (R.O.V.) is an important tool for
underwater operation. It is used for various tasks, like
inspection, repair, retrieval. Marine VEGA R.O.V. is designed
for max. depth 150m. In this paper the application of PID pos-
ition controller , instead of a trajectory planning, for Marin
VEGA R.O.V. is described. Two position control algorithms based
on PID controller ar studied. The first one is termed "stage
method", the second on is termed "simultaneous rotation and
trasnlation method". The performance of control algorithms are
studied through simulati on. In both cases, the R.O.V.
position can converge to the de sired position when current
speed is zero. When subject to dis turbance of current, the
second method can converge to the des ired position, while the
first method can't. Then the second method is modified for
straight line tracking and results in a good performance.
Finally, the relationship between the umbilical cable and
current is also established.
| Identifer | oai:union.ndltd.org:TW/083NTOU0340002 |
| Date | January 1995 |
| Creators | Chen ,C-Ting, 陳建廷 |
| Contributors | Luen-Woei Liou, 劉倫偉 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 118 |
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