| Summary: | 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 key point of this thesis is to develop a depth control system for the mini underwater vehicle. We use LabVIEW programming language as the developmental platform, and verify the feasibility of the control system by using an 8-inch underwater vehicle prototype. The framework of hardware, in addition to a vertical propulsion motor, includes a microcontroller and a pressure sensor device for operating and monitoring. To achieve control processes, the information about water depth is sent to the front panel through the radio operator after a large amount of calculation. There are two stages for testing power assign of the underwater vehicle. First, programmed power supply cards offer voltage to vertical motor; second, underwater vehicle can take the power by itself. After the calculation of water depth information, fuzzy controller operation would send duty cycle to micro-controller, and control the output of the battery by microcontroller.
In this thesis, the fuzzy theorem is used as a controller design which is based to the study about the different membership function of depth control effect on the mini underwater vehicle. Furthermore, we achieve the vehicle to reach the wanton assign position of water depth of control function.
In this thesis, we simulate the movement situation of the mini underwater vehicle in the water by LabVIEW programming. Also, we compare the experiment result in the tank, for adjusting membership function so that the movement of underwater vehicle to be the best performance state. The practical experience and theoretical basis of this research will be benefit to the future development of large autonomous underwater vehicle.
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