Summary: | 碩士 === 國立高雄海洋科技大學 === 海事資訊科技研究所 === 102 === This thesis is concerned with the PID control design for depth and station-keeping of the remotely operated underwater vehicle (ROV). The stability of the control system is tested and ensured in pool. The hardware systems of the ROV include the embedded system, pressure sensor, digital accelerometer module, and thrusters. To overcome the disturbance of measurement signals generated form the water shaking, the Kalman Filter is used for signals process. The experiment results are given to shown the feasibility of the applied PID control method.
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