Stability analysis of a small scale remotely operated underwater glider
The conventional process of maintaining underwater depth level for Unmanned Underwater Vehicles (UUVs) requires an operator to have a high skill and experience. Therefore, it is an important assessment to develop an automatic control scheme for underwater depth level control system and fabricate an...
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my-utm-ep.489222020-07-08T01:27:58Z Stability analysis of a small scale remotely operated underwater glider 2015-02 Ghani, Muhamad Fadli TK Electrical engineering. Electronics Nuclear engineering The conventional process of maintaining underwater depth level for Unmanned Underwater Vehicles (UUVs) requires an operator to have a high skill and experience. Therefore, it is an important assessment to develop an automatic control scheme for underwater depth level control system and fabricate an underwater vehicle’s prototype body as a test-bed to implement and study the performance of control scheme. Hence, the purposes of this research are to design, model and fabricate a prototype body of a Remotely Operated underwater Glider (ROG) and analyze stability equilibrium of the new glider design. This research also attempts to develop a programmable ON/OFF control scheme for the underwater depth level control system and study the performance of the control scheme by experimental verification and trials. The ROG is modelled based on the SLOCUM glider and Seaglider designs using SolidWork and MAXSURF HYDROMAX is employed to calculate the stability equilibrium. The collected real time data are analyzed using the MATLAB System Identification ToolboxTM to verify the ROG’s net weight-depth system. As a conclusion, the ROG has a cylindrical body shape and the stability calculation shows that the ROG is at stable equilibrium state when heeling from 0. 2015-02 Thesis http://eprints.utm.my/id/eprint/48922/ http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:85547 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering |
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TK Electrical engineering Electronics Nuclear engineering |
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TK Electrical engineering Electronics Nuclear engineering Ghani, Muhamad Fadli Stability analysis of a small scale remotely operated underwater glider |
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The conventional process of maintaining underwater depth level for Unmanned Underwater Vehicles (UUVs) requires an operator to have a high skill and experience. Therefore, it is an important assessment to develop an automatic control scheme for underwater depth level control system and fabricate an underwater vehicle’s prototype body as a test-bed to implement and study the performance of control scheme. Hence, the purposes of this research are to design, model and fabricate a prototype body of a Remotely Operated underwater Glider (ROG) and analyze stability equilibrium of the new glider design. This research also attempts to develop a programmable ON/OFF control scheme for the underwater depth level control system and study the performance of the control scheme by experimental verification and trials. The ROG is modelled based on the SLOCUM glider and Seaglider designs using SolidWork and MAXSURF HYDROMAX is employed to calculate the stability equilibrium. The collected real time data are analyzed using the MATLAB System Identification ToolboxTM to verify the ROG’s net weight-depth system. As a conclusion, the ROG has a cylindrical body shape and the stability calculation shows that the ROG is at stable equilibrium state when heeling from 0. |
format |
Thesis |
qualification_level |
Master's degree |
author |
Ghani, Muhamad Fadli |
author_facet |
Ghani, Muhamad Fadli |
author_sort |
Ghani, Muhamad Fadli |
title |
Stability analysis of a small scale remotely operated underwater glider |
title_short |
Stability analysis of a small scale remotely operated underwater glider |
title_full |
Stability analysis of a small scale remotely operated underwater glider |
title_fullStr |
Stability analysis of a small scale remotely operated underwater glider |
title_full_unstemmed |
Stability analysis of a small scale remotely operated underwater glider |
title_sort |
stability analysis of a small scale remotely operated underwater glider |
granting_institution |
Universiti Teknologi Malaysia, Faculty of Electrical Engineering |
granting_department |
Faculty of Electrical Engineering |
publishDate |
2015 |
_version_ |
1747817503362383872 |