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The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle

A preliminary mathematical model for the UCT SEAHOG Remotely operated underwater vehicle (ROV) is developed, including estimation of the rigid body, hydrodynamic and hydrostatic properties of the robot. A single state thruster model is developed and verified according to real life test data. A close...

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Main Author: Finbow, Maximillian
Other Authors: Mouton, Hendrik Daniël
Format: Thesis
Language:English
Published: Department of Mechanical Engineering 2016
Subjects:
Mechanical Engineering
Robotics
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access_status_str Open Access
author Finbow, Maximillian
author2 Mouton, Hendrik Daniël
author_browse Finbow, Maximillian
Mouton, Hendrik Daniël
author_facet Mouton, Hendrik Daniël
Finbow, Maximillian
author_sort Finbow, Maximillian
collection Thesis
description A preliminary mathematical model for the UCT SEAHOG Remotely operated underwater vehicle (ROV) is developed, including estimation of the rigid body, hydrodynamic and hydrostatic properties of the robot. A single state thruster model is developed and verified according to real life test data. A closed-loop speed controller is developed for the thruster module using a standard PI scheme and is implemented on an MSP430 microcontroller using software fixed-point algorithms. The complete ROV system is simulated in Simulink® in an open-loop configuration to gain insight into the expected motion from the vehicle. Controllers for depth and heading holding are designed using standard PID linearized control methods with gain scheduling and are then assessed within the complete system in a simulation environment. In addition, upgrades and maintenance are performed on the Power Pod, light and camera modules. Redesign, manufacture and testing of the SEAHOG junction box is performed, including a design solution to connect the tether power and fibre-optic lines at the surface and on the ROV. An extensive overhaul of the SEAHOG GUI is performed, utilising multicore processing architecture in LabVIEW and resulting in a user-orientated interface capable of controlling and monitoring all existing system data from the robot.
format Thesis
id oai:open.uct.ac.za:11427/20538
institution University of Cape Town (South Africa)
language eng
last_indexed 2026-06-10T12:49:41.856Z
license_str Not specified — see source repository
provenance_str_mv Harvested via OAI-PMH from UCTD — University of Cape Town Open Access Repository
publishDate 2016
publishDateRange 2016
publishDateSort 2016
publisher Department of Mechanical Engineering
publisherStr Department of Mechanical Engineering
record_format dspace
source_str UCTD — University of Cape Town Open Access Repository
spelling oai:open.uct.ac.za:11427/20538 The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle Finbow, Maximillian Mouton, Hendrik Daniël Mechanical Engineering Robotics A preliminary mathematical model for the UCT SEAHOG Remotely operated underwater vehicle (ROV) is developed, including estimation of the rigid body, hydrodynamic and hydrostatic properties of the robot. A single state thruster model is developed and verified according to real life test data. A closed-loop speed controller is developed for the thruster module using a standard PI scheme and is implemented on an MSP430 microcontroller using software fixed-point algorithms. The complete ROV system is simulated in Simulink® in an open-loop configuration to gain insight into the expected motion from the vehicle. Controllers for depth and heading holding are designed using standard PID linearized control methods with gain scheduling and are then assessed within the complete system in a simulation environment. In addition, upgrades and maintenance are performed on the Power Pod, light and camera modules. Redesign, manufacture and testing of the SEAHOG junction box is performed, including a design solution to connect the tether power and fibre-optic lines at the surface and on the ROV. An extensive overhaul of the SEAHOG GUI is performed, utilising multicore processing architecture in LabVIEW and resulting in a user-orientated interface capable of controlling and monitoring all existing system data from the robot. 2016-07-20T12:31:46Z 2016-07-20T12:31:46Z 2016 Master Thesis Masters MSc (Eng) http://hdl.handle.net/11427/20538 eng application/pdf Department of Mechanical Engineering Faculty of Engineering and the Built Environment University of Cape Town
spellingShingle Mechanical Engineering
Robotics
Finbow, Maximillian
The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle
thesis_degree_str Master's
title The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle
title_full The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle
title_fullStr The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle
title_full_unstemmed The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle
title_short The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle
title_sort dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle
topic Mechanical Engineering
Robotics
url http://hdl.handle.net/11427/20538
work_keys_str_mv AT finbowmaximillian thedynamicmodellinganddevelopmentofacontrollerforageneralpurposeremotelyoperatedunderwatervehicle
AT finbowmaximillian dynamicmodellinganddevelopmentofacontrollerforageneralpurposeremotelyoperatedunderwatervehicle

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