Design and Analysis of Motion Control System in The Fin and The Propulsion System of The Autonomous Underwater Vehicle (AUV) Using Cross Coupled Control

摘要

Part of Unmanned Underwater Vehicle that can move without controlling by human and non-tethered is the Autonomous Underwater Vehicle. Movement of 6 degrees of freedom of AUV is necessary to control so that the AUV can maneuver well. Therefore, the AUV can usually be used for security systems, surveillance, and exploration of natural resources in the sea. Controlling the movement of AUV discussed in this paper is done with the other approach. It is through a mathematical model of the propulsion system and fin system that sequentially arranged angular velocity of propeller and angular position of fin in AUV. An instrument of AUV that set the angular velocity of the propeller on the propulsion system is a dc motor. And an instrument of AUV that setangle position of the fin in the fin system is a servomotor. Controlling is did on that instruments using Cross Coupled Control. Through the stability analysis using root locus, Nyquist and bode diagram, the results of cross-couple control of the system shows that the system is asymptotically stable.