Simulation and Dynamics Analysis of Remotely Operated Vehicle (ROV) Using PID Controller For Pitch Movement

Hujjatul Anam; Joga Dharma Setiawan; Agus Budiyono

doi:10.21535/g83bv106

Vol. 6 No. 3 (2018), Research Paper

Vol. 6 No. 3 (2018)

Simulation and Dynamics Analysis of Remotely Operated Vehicle (ROV) Using PID Controller For Pitch Movement

Research Paper

Published 2018-12-12

Hujjatul Anam⁺⁻
Joga Dharma Setiawan⁺⁻
Agus Budiyono⁺⁻

Hujjatul Anam

Bhimasena Research Technology and Development

Joga Dharma Setiawan

Department of Mechanical Engineering, Diponegoro University, Semarang

Agus Budiyono

School of Aerospace, Mechanical and Manufacturing Engineering, Aerospace & Aviation Program, RMIT University

Keywords

underwater robot
buoyancy
virtual reality

Abstract

ROV (Remotely Operated Vehicle) is a type of underwater robot that resembles a mini submarine. The robot is remotely controlled by a pilot. In this ROV tether is usually used to link the robot with devices such as the sea surface energy source, remote control and sensing display. This study started from the stage of modeling the body of the ROV using SolidWorks. Estimation of added mass coefficient and hydrodynamics damping was performed using first principle approach. This leads to development of the equations of motion of ROV describing its salient dynamics. Based on the mathematical model, the ROV motion in 3-D space was investigated by using MATLAB SIMULINK. The stability of the ROV was analyzed and a classical control design was performed using the PID control toolbox.