The main goal of this project is to design a controller in such a way that an underwater vehicle (UWV) can automatically maneuver when exposed to underwater disturbances. Nevertheless, the short-term goal of this project is to ensure that UWV can propagate in a straight line forward to a specific location. This project focuses more on the simulation results because the vehicle is not working and requires parts to be replaced.
This section concludes that the PID controller performs best with step control, while the PD controller performs best when it comes to directional control. The PID controller for the pitch controller does not meet standard performance; therefore, it has been retuned. The second part of the simulation uses real data to estimate the transfer function for the vehicle's behavior.
A PID controller is designed based on the transfer function and is proven to work well with set point changes and simulated disturbances. The main goal of this project is to design a controller in such a way that the UWV will automatically maneuver when subject to underwater disturbances.
LITERATURE REVIEW
Of these controllers, it is necessary to determine which one is most suitable for the HydroView MAX TM. Otherwise, it is necessary to design a new controller that will be more versatile and adaptable to the dynamic environment. This algorithm could be mixed with dynamic modeling [20] to create an even more efficient controller.
This is another useful feature that should be incorporated into the new controller design should it become necessary. More information and innovative ideology has yet to be cultivated and incorporated into the "perfect" controller design for specific task. To be brief, PID controller can be treated as three terms namely proportional, integral and derivative.
However, staff must undergo professional training to know how to use certain software. This does not mean that the best controller for the HydroView MAX TM is determined to be a PID.
METHODOLOGY
METHODOLOGY
- Project Plan
START
Project Key Milestones
Input and output data must then be obtained to model the vehicle dynamics. An improvement (parameter setting) was performed to upgrade the performance of the designed controller. Research should be carried out throughout the project so that it can be improved from time to time.
Modeling refers to obtaining the transfer function of the facility for the vehicle through input-output relationships, which is followed by controller design. Simulation results are obtained and improvements will be made to improve the performance of the controller. However, there have been technical problems with the underwater vehicle, requiring replacement of parts and troubleshooting.
SIMULATION
- Simulation with Mathematical Model
The graph in Figure 5 shows the simulation result of the PID controller implemented on the height control system. The red line shows the performance of the controller trying to achieve the desired value (setpoint). The yellow line is the step input fed as a set point or commonly known as a reference.
Here it can be easily determined that the PID controller works better for this underwater vehicle than the PI controller. A small conclusion here is that the PID controller seems to be the most balanced and promising controller so far. A set point or reference is fed to the system to test the performance of the controller, similar to pitch control.
The graph in Figure 9 shows the simulation result of the PID controller implemented on the heading control system. The results are good because it provides a very short rise time, meaning the controller can respond quickly to the set point change. The above graph shows the simulation result of the P controller implemented on the course control system.
The dashed line shows the response of the P controller while the solid line shows the response of the PID controller. PD controller exhibits similar time to rise with the setpoint value, but it is able to beat PID in terms of settling time. The line in blue-green color is actually the underwater disturbances simulated to test the controller's effectiveness.
It is also able to effectively reject disturbances not to mention its ability to catch up with change in setpoint value. A new PID controller must be designed for new transfer function obtained from the real data. The controller's response to setpoint change and disturbances must also be tested and verified.
From Figure 23, it can be seen that the PID controller can adapt and respond to both set point changes and simulated disturbances quite well. The green line indicates the set point or reference value, while the green line indicates the introduced disturbances.
CONCLUSION
- CONCLUSION
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Overview of Control System for Pitch Angle
Overview of Control System for Heading Angle
Pitch Controller Response with Respect to Set-Point Change and Underwater Disturbances
Heading Controller Response with Respect to Set-Point Change and Underwater Disturbances
PID Controller Response for Real Data Vehicle System with respect to Set-point Change and Underwater Disturbances (Heading)
Screen Shot of the HydroView MAX for Window Graphic User Interface with Vehicle Connected Online
