Demarine AUV: dynamic motion controlled underwater robot for surveying vessels and shallow water environment

Tez Türü: Bütünleşik Doktora

Tezin Yürütüldüğü Kurum: Dokuz Eylül Üniversitesi, Fen Bilimleri Enstitüsü, Mechatronics Engineering, Türkiye

Tez Danışmanı: Aytaç Gören

Tezin Onay Tarihi: 2019

Tezin Dili: İngilizce

Desteklendiği Program: Diğer

Özet:

In recent decades, the importance of unmanned underwater operations concerning science, energy, maritime and military is increasing due to energy savings, occupational safety, operational accuracy and environmental challenges. Within the scope of this thesis, the design, manufacturing, simulation, analysis and experimental tests have been carried out for an autonomous type underwater robot DEMarine AUV which can follow predetermined trajectories to operate under the floating line of marine vessels. On an introductory basis, an overview of motivation, objective, original contribution and structuring of the subjects were provided. Next comes a preliminaries and fundamentals section that includes the historical development, state of art, literature review and detailed theoretical approaches of AUV modelling, hydrodynamics and motion control. As a continuation, the prototype was implemented by applying the design criteria determined in accordance with the mission descriptions. With underwater tests, the implementation was finalized with continuously developed mechanical hardware, electronic hardware, sensors, propulsion and software. In order to apply control strategies and obtain controller inputs, determining the hydrodynamic coefficients constitutes an important part of the study. Therefore, two different orbital geometries were modelled in terms of coordinates and formulated with curve fitting method. After the analysis carried out with the Computational Fluid Dynamics (CFD) method and the hydrodynamic data were obtained, three different controllers, namely PID, Linear Quadratic Regulator (LQR) and LQR + Sliding Mode Control (SMC), were designed and the results were compared by performing tests on the simulation model.