Contractile water jet thruster is an alternative thruster for underwater robot especially for mini autonomous underwater vehicle (uAUV). Without utilizing electric motor and turbine propeller, it has several advantages such as anti cavitation and quiet propulsion, utilizing small voltage as well as having high propulsion efficiency for small scale AUV. Modelling the system dynamic for uAUV performance is challenging task. Thus, this paper was carried out to determine the model of 2D contractile water jet thruster using system identification approach. In order to find the highest best fit value model for the thruster, few system identification methods had been utilized. The gained highest best fit value model had been applied in control analysis using PID control system. The controller was tuned to achieve optimized system response. The result shows that the transfer function model would reach up to 5 to 6 order equation.
Ključne reči :
Tematska oblast:
Mehatronika
Datum:
15.01.2013.
Br. otvaranja:
312
