Thruster dynamics effects investigation on open loop and close loop behaviors of an Underwater Remotely Operated Vehicle

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Loueipour MEHDI; Afshar Mojtaba

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Paper Information

Journal: JOURNAL OF MECHANICAL ENGINEERING Year:2021 | Volume:50 | Issue:4 (93) Page(s): 181-190

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Information Journal Paper

Title

Thruster dynamics effects investigation on open loop and close loop behaviors of an Underwater Remotely Operated Vehicle

Author(s)

Loueipour MEHDI | Afshar Mojtaba | Issue Writer Certificate

Keywords

Remotely Operated Vehicles Thruster Modeling Dead zone effect Saturation effect Constrained control

Abstract

In this paper, dynamic responses of a specific thruster used in Remotely Operated Vehicles (ROVs) have been extracted through experimental and laboratory tests. Based on the experimental results and dynamic analysis, thruster dominant dynamics have been determined and divided into saturation, and dead-zone effect dynamics. Then, elaborated dynamics have been mathematically modeled to simulate an appropriate dynamic model for thrusters. In the following, the effects of determined dynamics of thrusters have been studied on both open loop and close loop ROV dynamic analysis. Hence, by defining some scenarios based on practical ROV’ s operations, its dynamic responses have been analyzed under both ideal and proposed thruster model. Simulation results and dynamic analysis elaborate that saturation effect confines generating force of thrusters yielding to decline ROV’ s speed and decelerates its dynamic behavior response time. In addition, dead-zone effect dynamic causes a delay in the execution of applied commands. Therefore, it provides a gradual increase in dynamic response time of the ROV. Furthermore, it also declines the accuracy of the both depth and head regulators.

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APA: Copy

Loueipour, MEHDI, & Afshar, Mojtaba. (2021). Thruster dynamics effects investigation on open loop and close loop behaviors of an Underwater Remotely Operated Vehicle. JOURNAL OF MECHANICAL ENGINEERING, 50(4 (93) ), 181-190. SID. https://sid.ir/paper/269798/en

Vancouver: Copy

Loueipour MEHDI, Afshar Mojtaba. Thruster dynamics effects investigation on open loop and close loop behaviors of an Underwater Remotely Operated Vehicle. JOURNAL OF MECHANICAL ENGINEERING[Internet]. 2021;50(4 (93) ):181-190. Available from: https://sid.ir/paper/269798/en

IEEE: Copy

MEHDI Loueipour, and Mojtaba Afshar, “Thruster dynamics effects investigation on open loop and close loop behaviors of an Underwater Remotely Operated Vehicle,” JOURNAL OF MECHANICAL ENGINEERING, vol. 50, no. 4 (93) , pp. 181–190, 2021, [Online]. Available: https://sid.ir/paper/269798/en

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