碩士 / 國立中山大學 / 機械與機電工程學系研究所 / 95 / The main focus of this thesis is to design effective trajectories with minimum energy consumption for underwater remotely operated vehicles (ROV) in the environment with ocean current. The complete motion behavior of the ROV includes surge, sway, heave, roll, pitch, and yaw. Both the surge and sway are easy to be influenced by ocean current. The basic mission for the ROV is always from one starting point to a desired target position. An optimum trajectory with the minimum energy consumption not only can make the best use of energy, but also can improve maneuver efficiency for either manual operation or automatic control. In order to solve this problem, the optimal theorem is applied. The Matlab simulation tool is employed to demonstrate the response and performance of the ROV using the proposed trajectories. In addition, the applicably operational range for the ROV can also be determined when thrust limits are considered. Such information presents the extreme maneuver capability of the ROV in the ocean current.
| Identifer | oai:union.ndltd.org:TW/095NSYS5490038 |
| Date | January 2007 |
| Creators | Yu-Kai Liu, 劉宇凱 |
| Contributors | Chi-Cheng 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 | 69 |
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