UiS Subsea ROV navigating in 6 degrees of freedom, with autopilot
HTML-код
- Опубликовано: 1 окт 2024
- Norwegian ROV called "Ægir" navigating in 6 degrees of freedom, with autopilot in depth and attitude.
Made by the student organization UiS Subsea at the University of Stavanger
The ROV is made for the annual MATE ROV Competition, which is held at NASA's Neutral Buoyancy Lab, Houston Texas June 2016.
Music
Ludovico Einaudi: Walk
hello ,I have some questions about your thrusters. You didn't use any coupling? brushless motors use many ampers in to the water, how you can use 48v 40amps.and how brushless motors turn left and right?
How cool, good luck in the MATE competition!
Very nice, the auto attitude control is excellent. Any available info that would help to copy the build ? Thanks for sharing.
Found your info, English translation : translate.google.co.uk/translate?sl=auto&tl=en&js=y&prev=_t&hl=en&ie=UTF-8&u=http%3A%2F%2Fuissubsea.no%2Fom-oss%2Froven%2F&edit-text=
Hey nice work with the subrov! Is it possible to you to tell what thrusters have you used in the vehicle?
+Miguel Rosa We have designet the thruster ourselves. They consist of two 3D printed parts(propeller and duct) and a brushless outrunner with epoxy coated stator integrated in the propeller hub.
Pictures here: uissubsea.no/2016/03/newsletter-march/
Really nice! This would be cool to explore underwater caves with.
Nice work!
I get that having the thrusters on an angle on each corner would give fast yaw, but wouldn't it be less efficient in a straight line?
+Designandrew The thrusters are way more efficient at 50% power consumption than 100%, therefore 4 thruster at 50% produce more force than 2 at 100%. This also compensate for the 1/sqrt(2)-factor due to their 45deg angle. Also we are able to thrust equally in all directions, meaning moving (almost)same speed in all directions or holding position in a current regardless of the ROVs orientation.
UiS Subsea I still don't get it though, I wasn't talking about the efficiency of the props, more the drag that is created by having the props on angles to forward motion. Surely it would be better to pivot the thrusters with servos? Rather than having all that drag?
That is true. For "flying"-speed that would definitely be the best solution. But as you can see, our ROV is not built for speed but rather stability and maneuverability in all directions. You may call it a small "Working class ROV". A feature like pivoting trusters would is just not worth it for this project.
Nice work folks,can i know how you programmed the rov to maintain it's pitch,roll,yaw,depth. by using a sensors and using any microcontroller or by any another way.
Hi Revanth, yes that is correct. We used an STM32 microcontroller and an IMU + pressure (depth) sensor for sensor readings. A PID controller in the STM32 then calculated how much truster force that was needed to maintain the 3 axis pitch, roll, and depth to a given setpoint.
Yaw control was not automated, only controlled by the pilot
what did you guys used for depth and orientation / stability control for the sub?
We used 3 PID controllers to control ROV's depth, roll and pitch position, based on sensor data from a pressure sensor and an accelerometer. The individual thruster force needed to satisfy the controller output is then calculated with inverse kinematic matrix multiplication. The PID controllers and the thruster force calculations is done in a stm32 microcontroller, and the thruster gain is sent over CAN-bus.
Send me an PM if you would like some more information, the kinematic thruster force calculations is described in "Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles" by Thor I. Fossen.
Nydelig, meget hurtig den der! Mulig å få litt mer om specs?
+pappkopp uissubsea.no/om-oss/roven/
자작 rov?
Absolutely awesome!
Imponerende!
Заебца!