Abstract of Thesis presented at COPPE/UFRJ as a partial fulfillment of the requirements for the degree of Master of Science (M.Sc.)

Modeling, Simulation and Control of a Remotely Operated Underwater Vehicle

Christiano Goulart

June/2007

Advisor:

Ramon Romankevicius Costa

Department:

Eletrical Engineering

      In this work is approached the modeling of the dynamics of the Remotely Operated Vehicle (ROV) developed by GSCAR (Group of Simulation and Control in Automation and Robotics) of COPPE/UFRJ in partnership with the AMPLA company to inspect dam water delivery ducts in barrages of hydroelectric plants, denominated ROV LUMA. The vehicle is endowed with two pressure vessels for the electronics and the batteries, a system of four propellers, cameras, lamps and floaters. Is proposed a simulator of ROVs that presents results plenty realists of the dynamic behavior of the simulate vehicle. For this fact, are necessary adjustment methods so that coherence exists among the simulation results and obtained them experimentally. Experimental procedures are presented to identify the hydrodynamic characteristics of submarine vehicles, as the additional masses, the force of it drags and the restoring torque besides the centers of gravity and of flotation of the vehicle. A vectorial approach is used to calculate the contribution of each propeller to the movement of ROV. They are presented, also, proofs statics and dynamic, in fastening conditions (bollard-pull), for the modeling of the propellers. Soon after, are described the static compensators and of dead zone as well as the decoupling matrix so that the controllers can act in each degree of freedom (DOF) independently.