碩士 / 國立成功大學 / 系統及船舶機電工程學系碩博士班 / 95 / Because of the current effect, the behaviors of the underwater remotely operated vehicle will be affected especially for the longitudinal stability. Consequently the efficiency of the operating the underwater ROV will be decreased. In the present paper, a numerical model including the PD or PID control is established to simulate the ROV motions in currents. The related suitable gains of the controller are obtained by trial and error. The numerical technique including 4th order Runge Kutta method and multi-steps shooting method is adopted to solve the equations of motions with two ends boundary values problem due to the cable effect. The related maneuvering hydrodynamic coefficients of the ROV were obtained by PMM technique. From the present results, we find that the PID controller is superior to the PD controller and indeed can improve the longitudinal stability, i.e. reduce the pitch motion. Therefore the technique developed in the present study can be regarded as an useful tool for improving the anti-current ability of the ROV while it is operating in currents.
| Identifer | oai:union.ndltd.org:TW/095NCKU5345024 |
| Date | January 2007 |
| Creators | Yu-Lun Huang, 黃育倫 |
| Contributors | Ming-Chung Fang, 方銘川 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 85 |
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