碩士 / 國立海洋大學 / 船舶機械工程學系 / 83 / A computer control system for MARINE VEGA ROV (Remotely
Operated Vehicle) is constructed to achieve the motion control
without altering its original hardware architecture. The input/
output relationship between the joystick voltage and the
propeller shaft speed is established, then a shaft speed
control algorithm by PWM (Pulse Width Modulation) for this
highly nonlinear model at its dead zone is proposed, allowing
linearized operation at both high speed and low speed. Assuming
the relation between the thrust and the shaft speed is known,
the trajectory tracking system for the ROV can be accomplished,
thus, completing the hierarchical motion control system.
Simulations at different operating conditions are conducted to
verify the feasibility of the motion control system which plays
a basic role in future's mission-oriented control system.
| Identifer | oai:union.ndltd.org:TW/083NTOU0340013 |
| Date | January 1995 |
| Creators | Wei ,Chungshung, 魏崇聖 |
| 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 | 88 |
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