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Design and developing dynamic positioning control system for maintaining desired position of marine vehicle model using propeller, microcontroller, and position sensor

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The main purpose of this thesis is to simulate Dynamic Positioning System in a scaled ship model using PID control system. A ship model and sea environment is designed in such way that the control system performance can be analyzed. The floating model has 3 thrusters to maintain its position and heading angle on XY plane based on a Cartesian coordinate system. Image processing is used to define the real X, Y position, and angle of the floating model from a camera input. The camera detects two LED with different color that attached on the top of the ship. The graphical data of ship position and heading angle vs. time is analyzed to measure the system performance. Ship X, Y position and heading information is the feedback for the PID control system to be controlling the 3 thrusters. The feedback data are sent via wireless Bluetooth communication. The system response to various kind of disturbance is then to be analyzed to measure the system performance. For the result the ship model was able to made positioning within the tolerance. However, higher value of disturbance forces can make the system became unstable.

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Availability

B00501

(wh)

Available

Detail Information

Series Title

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Call Number

501

Publisher

: Swiss German University., 2009

Collation

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Language

English

ISBN/ISSN

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Classification

NONE

Content Type

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Media Type

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Carrier Type

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Edition

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Subject(s)

MT

Specific Detail Info

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Statement of Responsibility

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