碩士 / 國立中山大學 / 機械工程研究所 / 85 / Effective controller design usually relies on an accurate enough model for the controlled plant. In general, previous studies on of the control of the ROV always regard the thruster force as a linear function. Actually, the thruster force produced by a propeller is nonlinear. In this paper, analysis and discussion of the effects by combining the nonlinear thruster model and the nonlinear dynamic model of an ROV are addressed. The amplitude and the frequency of the limit cycle can be solved by using the describing function method. Simulation results indicate thruster force seems to be more important than the drag force. Different controllers are investigated and designed to suppress the limit cycle by qualitative analysis. Stability of the overall controller system is proved by using the techniques of Nyquist plot and Popov criterion.
| Identifer | oai:union.ndltd.org:TW/085NSYS3489019 |
| Date | January 1997 |
| Creators | Huang, Chen-Hua, 黃禎華 |
| Contributors | Cheng, Chi-Cheng, 程啟正 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 55 |
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