Stability analysis of a small scale remotely operated underwater glider

Stability analysis of a small scale remotely operated underwater glider

The conventional process of maintaining underwater depth level for Unmanned Underwater Vehicles (UUVs) requires an operator to have a high skill and experience. Therefore, it is an important assessment to develop an automatic control scheme for underwater depth level control system and fabricate an...

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Main Author: Ghani, Muhamad Fadli
Format: Thesis
Published: 2015
Subjects:
TK Electrical engineering
Electronics Nuclear engineering
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id my-utm-ep.48922
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spelling my-utm-ep.489222020-07-08T01:27:58Z Stability analysis of a small scale remotely operated underwater glider 2015-02 Ghani, Muhamad Fadli TK Electrical engineering. Electronics Nuclear engineering The conventional process of maintaining underwater depth level for Unmanned Underwater Vehicles (UUVs) requires an operator to have a high skill and experience. Therefore, it is an important assessment to develop an automatic control scheme for underwater depth level control system and fabricate an underwater vehicle’s prototype body as a test-bed to implement and study the performance of control scheme. Hence, the purposes of this research are to design, model and fabricate a prototype body of a Remotely Operated underwater Glider (ROG) and analyze stability equilibrium of the new glider design. This research also attempts to develop a programmable ON/OFF control scheme for the underwater depth level control system and study the performance of the control scheme by experimental verification and trials. The ROG is modelled based on the SLOCUM glider and Seaglider designs using SolidWork and MAXSURF HYDROMAX is employed to calculate the stability equilibrium. The collected real time data are analyzed using the MATLAB System Identification ToolboxTM to verify the ROG’s net weight-depth system. As a conclusion, the ROG has a cylindrical body shape and the stability calculation shows that the ROG is at stable equilibrium state when heeling from 0. 2015-02 Thesis http://eprints.utm.my/id/eprint/48922/ http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:85547 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution Universiti Teknologi Malaysia
collection UTM Institutional Repository
topic TK Electrical engineering
Electronics Nuclear engineering
spellingShingle TK Electrical engineering
Electronics Nuclear engineering
Ghani, Muhamad Fadli
Stability analysis of a small scale remotely operated underwater glider
description The conventional process of maintaining underwater depth level for Unmanned Underwater Vehicles (UUVs) requires an operator to have a high skill and experience. Therefore, it is an important assessment to develop an automatic control scheme for underwater depth level control system and fabricate an underwater vehicle’s prototype body as a test-bed to implement and study the performance of control scheme. Hence, the purposes of this research are to design, model and fabricate a prototype body of a Remotely Operated underwater Glider (ROG) and analyze stability equilibrium of the new glider design. This research also attempts to develop a programmable ON/OFF control scheme for the underwater depth level control system and study the performance of the control scheme by experimental verification and trials. The ROG is modelled based on the SLOCUM glider and Seaglider designs using SolidWork and MAXSURF HYDROMAX is employed to calculate the stability equilibrium. The collected real time data are analyzed using the MATLAB System Identification ToolboxTM to verify the ROG’s net weight-depth system. As a conclusion, the ROG has a cylindrical body shape and the stability calculation shows that the ROG is at stable equilibrium state when heeling from 0.
format Thesis
qualification_level Master's degree
author Ghani, Muhamad Fadli
author_facet Ghani, Muhamad Fadli
author_sort Ghani, Muhamad Fadli
title Stability analysis of a small scale remotely operated underwater glider
title_short Stability analysis of a small scale remotely operated underwater glider
title_full Stability analysis of a small scale remotely operated underwater glider
title_fullStr Stability analysis of a small scale remotely operated underwater glider
title_full_unstemmed Stability analysis of a small scale remotely operated underwater glider
title_sort stability analysis of a small scale remotely operated underwater glider
granting_institution Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department Faculty of Electrical Engineering
publishDate 2015
_version_ 1747817503362383872

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