Title page for etd-0215111-174507


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URN etd-0215111-174507
Author Jyun-siang Gao
Author's Email Address No Public.
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Department IAMPUT
Year 2010
Semester 1
Degree Master
Type of Document
Language zh-TW.Big5 Chinese
Title Implementation and Performance Testing of A DC Motor Driver for Underwater Thrusters
Date of Defense 2011-01-14
Page Count 95
Keyword
  • Underwater Thrusters
  • Abstract The control of a remotely operated vehicle (ROV) for moving stably at very low speed presents several difficulties due to the nonlinear dynamics of the vehicle. Therefore, precise motion control relies on a good understanding of the vehicle response in correspondence with the input thrust of thrusters. This study developed a measurement system capable of measuring the thrust performance of a thruster. The thrust measurement system utilizes the lever principle to magnify output force and consequently increase the thrust measurement resolution. A voltage meter and a current meter are coupled to a power supply to continuously measure the voltage and current input to the thruster. The thrust measurement error resulting for friction and poor stiffness of the lever is significant. The thrust measuremnt is also disturbed by the electromagnetic interference from the thruster. Therefore, the stiffness of the lever is improved and a static preload is applied on the lever to reduce the error in thrust measurement. In addition, proper system grounding and optical isolation are designed in the measurement system for reducing electromagnetic interference in thrust measurement. To control the thruster by the ROV general purpose controller developed by the Institute of Undersea Technology, National Sun Yat-sen University, this study developed a DC motor controller. The motor controller includes a L298n motor driver and uses an ultra low power MSP430 microprocessor to control the speed and direction of a thruster. The performance of three commercial thrusters were tested by the thrust measurment system with different motor drivers. The measurement results of the thruster performance are in agreement with the data obtained from the thruster data sheets, which verifies the measurement accuracy and reliability of the thrust measurement system.
    Advisory Committee
  • Wu-Sung Yao - chair
  • Chau-Chang Wang - co-chair
  • Hsin-Hung Chen - advisor
  • Files
  • etd-0215111-174507.pdf
  • indicate access worldwide
    Date of Submission 2011-02-15

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