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Modeling, Analysis and Control of Underwater Vehicle SROV

Ferling, Olle (2018)
Department of Automatic Control
Abstract
A new type of Remotely Operated Vehicle (ROV) has been designed by Marin Mätteknik (MMT) in cooperation with Reach Subsea and Kystdesign AS; the Surveyor ROV. Although MMT is successfully using the SROV in day-to-day operations, no mathematical model describing the system has previously been derived. In this thesis project, a mathematical model describing the SROV is developed through system identification techniques. Experiments to facilitate parameter estimation of the model are designed and consequently performed. The gathered data sets are investigated to determine how well they are suited for parameter estimation. Estimation of the continuous-time model parameters are carried out using a Kalman filter running on the input-output data... (More)
A new type of Remotely Operated Vehicle (ROV) has been designed by Marin Mätteknik (MMT) in cooperation with Reach Subsea and Kystdesign AS; the Surveyor ROV. Although MMT is successfully using the SROV in day-to-day operations, no mathematical model describing the system has previously been derived. In this thesis project, a mathematical model describing the SROV is developed through system identification techniques. Experiments to facilitate parameter estimation of the model are designed and consequently performed. The gathered data sets are investigated to determine how well they are suited for parameter estimation. Estimation of the continuous-time model parameters are carried out using a Kalman filter running on the input-output data obtained through the experiments. Comparisons between this method and results obtained through a subspacebased identification Matlab method are performed. Model validation is carried out using numerous performance measures. The thesis has shown that a coupled LPV model may be a feasible approach to the modeling problem, and also makes suggestions that could possiblyimprove on the results.
As an alternative to the current control system, simulations of closed-loop responses of the identified system model using a Model Predictive Control (MPC) structure are undertaken and presented. The simulations show that good performance is achievable using the MPC lgorithm. Noticeably, the current control system has difficulties attenuating deviations from angular velocity set points. The MPC scheme has been shown to effectively suppress such control errors in simulations. (Less)
Please use this url to cite or link to this publication:
author
Ferling, Olle
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
report number
TFRT-6049
ISSN
0280-5316
language
English
id
8940560
date added to LUP
2018-06-29 12:24:10
date last changed
2018-06-29 12:24:10
@misc{8940560,
  abstract     = {{A new type of Remotely Operated Vehicle (ROV) has been designed by Marin Mätteknik (MMT) in cooperation with Reach Subsea and Kystdesign AS; the Surveyor ROV. Although MMT is successfully using the SROV in day-to-day operations, no mathematical model describing the system has previously been derived. In this thesis project, a mathematical model describing the SROV is developed through system identification techniques. Experiments to facilitate parameter estimation of the model are designed and consequently performed. The gathered data sets are investigated to determine how well they are suited for parameter estimation. Estimation of the continuous-time model parameters are carried out using a Kalman filter running on the input-output data obtained through the experiments. Comparisons between this method and results obtained through a subspacebased identification Matlab method are performed. Model validation is carried out using numerous performance measures. The thesis has shown that a coupled LPV model may be a feasible approach to the modeling problem, and also makes suggestions that could possiblyimprove on the results.
 As an alternative to the current control system, simulations of closed-loop responses of the identified system model using a Model Predictive Control (MPC) structure are undertaken and presented. The simulations show that good performance is achievable using the MPC lgorithm. Noticeably, the current control system has difficulties attenuating deviations from angular velocity set points. The MPC scheme has been shown to effectively suppress such control errors in simulations.}},
  author       = {{Ferling, Olle}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  note         = {{Student Paper}},
  title        = {{Modeling, Analysis and Control of Underwater Vehicle SROV}},
  year         = {{2018}},
}