SYSTEMATIC MODELING AND MODEL-BASED SIMULATION OF A REMOTELY OPERATED VEHICLE USING MATLAB AND SIMULINK

摘要

Dynamic modeling and simulation of underwater robotic vehicles is essential for control. In this paper, systematic dynamic modeling and simulation of a remotely operated vehicle (ROV) is developed and named as ROV Design and Analyses (RDA). For the initial design, hydrodynamic coefficients used in the ROV dynamic model were estimated using computational fluid dynamic software and experiments. The proposed RDA toolbox written in MATLAB™ and Simulink™ platform provides a means to simulate the mathematical models of ROV and the control system design before final hardware implementation. The control simulation using a proportional-integral-derivative controller is able to model the positions and velocities output of the ROV that is highly uncertain and nonlinear.