Thruster model for Observation Class Remotely Operated Vehicle
(English)In: Ocean Engineering, ISSN 0029-8018, E-ISSN 1873-5258Article in journal (Refereed) Submitted
For any small company or research group in offshore renewable energy, the costs to invest into Remotely Operate Vehicles (ROVs) for offshore operations are highly significant. There is however a potential to adapt and equip Observation Class ROVs (OCROVs) in order to make them perform light tasks, such as cable connection. OpenROV is a small and light OCROV with open source software, making it easy to implement tools, such as an autopilot. In this paper a model of the autopilot is presented. To be tested, it needs a model of the thrusters of the OpenROV. Those thrusters are hence tested, modelled in Simulink, and the experimental results are compared to the Matlab model.
ROV; wave energy; thrusters; OpenROV; autopilot
Robotics Control Engineering Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject Electrical Engineering with specialization in Automatic Control
IdentifiersURN: urn:nbn:se:uu:diva-302640OAI: oai:DiVA.org:uu-302640DiVA: diva2:962996