System Design of Underwater Vehicle with Dual Ballast Tanks and the Application of Fuzzy Theorem in Dive Movement

• Main Authors: Cheng-KaiFu, 傅政凱
• Other Authors: Chung-Hung Lin
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/df65vz

碩士 === 國立成功大學 === 系統及船舶機電工程學系 === 107 === This paper presents the system design of autonomous underwater vehicle(AUV) with dual ballast system and the application of fuzzy theorem on dive movement. The vehicle have four degree-of-freedom which is accomplished by using propulsion system consisted of DC motor and propeller for surge, rudder-turning system for yaw, forward and after ballast tanks for heave and pitch movement. The shape of AUV is deployed similar structure of torpedo which reduces the drag force in maneuvering. To modularize the vehicle for future expanding or reassembly, we design it into three part- fwd, mid and aft part. Fwd part is consisted of alumni cover and forward ballast tank which install pressure transducer to measure temperature；Mid part locates most of the AUV’s electric device and responses for vehicle control；Aft part contains aft ballast tank and stern part where propulsion and turning system are. In the design of electric and control system, we apply the embedded computer as the motion controller of AUV and use Wi-fi module to command the vehicle’s mission target. The control system firstly read the attitude and depth of AUV from inertia measurement unit and pressure transducer, which will be transmitted to the embedded computer for PID or Fuzzy controller computation. Then computer send the computed output to the microcontroller which transforms the output into PPS or PWM signal for driving actuator. The experiment of AUV system and control is tested in towing tank, NCKU. The experiment compares the results of dual ballast system’s dive movement by using PID and Fuzzy controller, then discuss the advantage of controllers and evaluate the capability of dual ballast system.