Control design and simulation of an underwater vehicle

In this thesis, a simulation package for the Six Degrees of Freedom (6DOF) motion of an underwater vehicle is developed. Mathematical modeling of an underwater vehicle is done and the parameters needed to write such a simulation package are obtained from an existing underwater vehicle available i...

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Bibliographic Details
Main Author:	Mohamed Hamad, Khlid Abobaker
Format:	Thesis
Language:	English English English
Published:	2011
Subjects:	TC Hydraulic engineering Ocean engineering TC1501-1800 Ocean engineering
Online Access:	http://eprints.uthm.edu.my/2668/1/24p%20KHLID%20ABOBAKER%20MOHAMED%20HAMAD.pdf http://eprints.uthm.edu.my/2668/2/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/2668/3/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20WATERMARK.pdf
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id	my-uthm-ep.2668
record_format	uketd_dc
spelling	my-uthm-ep.26682021-11-01T04:09:46Z Control design and simulation of an underwater vehicle 2011-11 Mohamed Hamad, Khlid Abobaker TC Hydraulic engineering. Ocean engineering TC1501-1800 Ocean engineering In this thesis, a simulation package for the Six Degrees of Freedom (6DOF) motion of an underwater vehicle is developed. Mathematical modeling of an underwater vehicle is done and the parameters needed to write such a simulation package are obtained from an existing underwater vehicle available in the literature. Basic equations of motion are developed to simulate the motion of the underwater vehicle and the parameters needed for the hydrodynamic modeling of the vehicle is obtained from the available literature. 6DOF simulation package prepared for the underwater vehicle was developed using the MATLAB environment. S-function hierarchy is developed using the same platform with C++ programming language. With the usage of Sfunctions the problems related to the speed of the platform have been eliminated. The use of S- function hierarchy brought out the opportunity of running the simulation package on other independent platforms and get results for the simulation. Keywords: Underwater Vehicle Simulation, Virtual Reality Modeling Language (VRML), MATLAB S-function, Simulink, C++, 6DOF. 2011-11 Thesis http://eprints.uthm.edu.my/2668/ http://eprints.uthm.edu.my/2668/1/24p%20KHLID%20ABOBAKER%20MOHAMED%20HAMAD.pdf text en public http://eprints.uthm.edu.my/2668/2/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/2668/3/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TC Hydraulic engineering Ocean engineering TC1501-1800 Ocean engineering
spellingShingle	TC Hydraulic engineering Ocean engineering TC1501-1800 Ocean engineering Mohamed Hamad, Khlid Abobaker Control design and simulation of an underwater vehicle
description	In this thesis, a simulation package for the Six Degrees of Freedom (6DOF) motion of an underwater vehicle is developed. Mathematical modeling of an underwater vehicle is done and the parameters needed to write such a simulation package are obtained from an existing underwater vehicle available in the literature. Basic equations of motion are developed to simulate the motion of the underwater vehicle and the parameters needed for the hydrodynamic modeling of the vehicle is obtained from the available literature. 6DOF simulation package prepared for the underwater vehicle was developed using the MATLAB environment. S-function hierarchy is developed using the same platform with C++ programming language. With the usage of Sfunctions the problems related to the speed of the platform have been eliminated. The use of S- function hierarchy brought out the opportunity of running the simulation package on other independent platforms and get results for the simulation. Keywords: Underwater Vehicle Simulation, Virtual Reality Modeling Language (VRML), MATLAB S-function, Simulink, C++, 6DOF.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Mohamed Hamad, Khlid Abobaker
author_facet	Mohamed Hamad, Khlid Abobaker
author_sort	Mohamed Hamad, Khlid Abobaker
title	Control design and simulation of an underwater vehicle
title_short	Control design and simulation of an underwater vehicle
title_full	Control design and simulation of an underwater vehicle
title_fullStr	Control design and simulation of an underwater vehicle
title_full_unstemmed	Control design and simulation of an underwater vehicle
title_sort	control design and simulation of an underwater vehicle
granting_institution	Universiti Tun Hussein Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2011
url	http://eprints.uthm.edu.my/2668/1/24p%20KHLID%20ABOBAKER%20MOHAMED%20HAMAD.pdf http://eprints.uthm.edu.my/2668/2/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/2668/3/KHLID%20ABOBAKER%20MOHAMED%20HAMAD%20WATERMARK.pdf
_version_	1747830973676912640

Control design and simulation of an underwater vehicle

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