碩士 / 國立高雄海洋科技大學 / 海事資訊科技研究所 / 103 / This thesis is concerned with the Fuzzy controller design for depth and station-keeping of the remotely operated underwater vehicle (ROV). The tests show the control system is feasibility to ensure the ROV system stability operation in the school pool. The hardware system of the ROV consists of an embedded system (NITM myRIO), a pressure sensor, a digital accelerometer module, two thrusters, and webcam. ROV motion will be affected by current forces, hydrodynamic disturbances, and pressures. The proposed close-loop Fuzzy controller and sensing system are employed to mitigate thrust imbalance effects in an uncertainty marine environment. Therefore, the ROV can dive or float in station-keeping operation in setting diving depth. The experiment results demonstrate the validity and feasibility of the proposed Fuzzy controller under station-keeping conditions and swing disturbances.
| Identifer | oai:union.ndltd.org:TW/103NKIM0297011 |
| Date | January 2015 |
| Creators | Jing-Chun Hong, 洪鏡淳 |
| Contributors | Chao-Lin Kuo, 郭昭霖 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 53 |
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