Open Access

Downloads

Download data is not yet available.

Abstract

This paper presents a new form of the autonomous underwater vehicle with a built-in subsystem of cylinder and counterbalance to support floating and diving, the electrical and mechanical system is built-in a modular form for easy integration and disassembly - mounting and expanding the system. In particular, show optimal calculation for diving robot's profile, simulating stress, deformation impact on the profile of the robot to select the hull's material and thickness to make sure the robot is durable and steady at a depth of 50m. The paper also presents advantages of hybrid design between traditional AUV which uses propeller and rudder to turn and glider using counterbalance and cylinder to dive. In addition, the design of the control system for the robot is also mentioned and clarified through the selection of sensors, actuators, designing electrical circuit, designing 600W thruster and tri-axis rotation angles estimator for stable operation of the robot at a depth of 50m. In addition, the paper also presents the dynamic model of the diving robot VIAMAUV2000, from which, builds, simulates and applies controller for diving robot in two main forms: using thruster (AUV mode) and not using thruster (Glider mode).



Author's Affiliation
Article Details

 Copyright Info

Creative Commons License

Copyright: The Authors. This is an open access article distributed under the terms of the Creative Commons Attribution License CC-BY 4.0., which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

 How to Cite
Châu, T. H., Huy, T., Phương, T., & Diễn, H. (2021). Building the controler for differential diving modes of VIAM-AUV2000. Science & Technology Development Journal - Engineering and Technology, 3(SI2), SI114-SI128. https://doi.org/https://doi.org/10.32508/stdjet.v3iSI2.548

 Cited by



Article level Metrics by Paperbuzz/Impactstory
Article level Metrics by Altmetrics

 Article Statistics
HTML = 0 times
Download PDF   = 0 times
Total   = 0 times