碩士 / 國立成功大學 / 系統及船舶機電工程學系碩博士班 / 96 / The main purpose of the thesis is to establish an adjustable Four-DOF underwater vehicle. By the use of buoyancy、pitch and roll adjustable、propulsion systems, it is able to achieve the attitude control of the underwater vehicle。The use of GPS、GSM and electronic pressure sensor are devices to measure the position and attitude of the vehicle. The Embedded System is used in order to take down records and control the vehicle through certain commands, then report the information back by GPS.
The buoyancy system uses a reciprocate piston to suck in and drain out the water inside, the controllable buoyancy is 300 c.c (1% of total weight), the action time for one stroke is 3 min, and the maximum depth is designed to 50 m. The pitch adjustable system is adopted from submarines, using a hydraulic pump to change the volume of water in the water container which is placed at the fore and aft section of the vehicle, the maximum pitch angle is ±45∘. The rolling adjustment system is achieved by the use of a fan-shaped iron block which can rotate 360∘in order to change the gravity center. In the propulsion system a small-scaled DC bilge pump is used, and hydroplanes are attached to provide forward force quantity while the vehicle travels up and down in the water.
On the response time of the Four-DOF system, for a single DOF it takes about 40 sec to counterbalance, the experimental data is provided for further use.
| Identifer | oai:union.ndltd.org:TW/096NCKU5345017 |
| Date | January 2008 |
| Creators | Jiun-an Lin, 林俊安 |
| Contributors | Chung-Hung Lin, 林忠宏 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 65 |
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