5th WCSET-2016 at Vietnam
Technical Session - 7
Title:
Research, design and control of a remotely operated
underwater vehicle
Authors:
Duy Anh Nguyen, Quang Hung Cao, Phung Hung Nguyen
Abstract: This
paper will present the initial results of the design,
construction and control a mini remotely operated
underwater vehicle (ROV) for marine research, including
hardware and software control. This ROV is equipped with
gyroscope, accelerometer, compass, pressure sensors for
performing underwater movement. It has six motors, two
for vertical and four for horizontal movement. Control
commands and feedback sensor are transferred using RS485
bus. PID controllers would control heading angle and
depth of the system. Visual studio C# 2013 is used to
design the controller interface.
Keywords: ROV,
thruster, PID Controller, Control Algorithm
Pages:
391-396