Design of a Hardware in Loop Simulator for Vertical Motion of an Autonomous Underwater Vehicle Under Simulated Ocean Currents


Scientific Essay, 2014

5 Pages, Grade: A


Abstract or Introduction

The paper presents the design of a hardware in loop (HIL) simulator for the vertical motion of an autonomous underwater vehicle (AUV) operating under identical vertical thrusters. The thruster mathematical modelling along with the dynamic model of the AUV for its vertical motion is presented. The HIL simulates ocean currents of different speeds and direction at different depth ranges which displays how the AUV drifts from its initial dive position. A Graphical User Interface for the hardware in loop simulator is built on C# which provides various controls over the simulator like modifying the water currents, its initial dive location, maximum diving depth. The GUI is given a serial input (control voltage) which simulates the thruster and the two serial outputs- depth and altitude (or pressure at the depth) are used to study the behavior and motion of the AUV in the vertical direction, whereas the simulated ocean currents helps us to monitor the motion of the AUV in the horizontal direction.

Details

Title
Design of a Hardware in Loop Simulator for Vertical Motion of an Autonomous Underwater Vehicle Under Simulated Ocean Currents
Course
Electrical and Electronics Engineering
Grade
A
Author
Year
2014
Pages
5
Catalog Number
V282862
ISBN (eBook)
9783656831648
ISBN (Book)
9783656828884
File size
1023 KB
Language
English
Keywords
design, hardware, loop, simulator, vertical, motion, autonomous, underwater, vehicle, under, simulated, ocean, currents
Quote paper
Prateek Murgai (Author), 2014, Design of a Hardware in Loop Simulator for Vertical Motion of an Autonomous Underwater Vehicle Under Simulated Ocean Currents, Munich, GRIN Verlag, https://www.grin.com/document/282862

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