Intelligent Maneuvering of Underwater Vehicle

• Main Author: Seng, Ting Nguong
• Format: Final Year Project
• Language: English
• Published: IRC 2015
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://utpedia.utp.edu.my/15595/1/Dissertation%2014964%20%28TING%20NGUONG%20SENG%29.pdf; http://utpedia.utp.edu.my/15595/

The main goal of this project is to design a controller in such a way that underwater vehicle (UWV) can maneuver automatically when it is subject to underwater disturbances. Nevertheless, short term target for this project is to ensure that the UWV is able to propagate in a straight line forward direction to designated location. This project focuses more on simulation results because the vehicle fails to operate and requires parts replacement. The first part of simulation utilizes the mathematical model. This part concludes that PID controller works the best with pitch control whereas PD controller works the best when coming to heading control. PID controller for pitch controller does not meet the standard performance; hence, it is re-tuned. After five trials, new set of parameters which display astounding results are obtained. Both controllers designed are able to respond to underwater disturbances effectively.