Worcester Polytechnic Institute Digital WPI Major Qualifying Projects (All Years) Major Qualifying Projects April 2010 Optimization and Control Design of an Autonomous Underwater Vehicle Ashish Palooparambil Worcester Polytechnic Institute Daniel S. Moussette Worcester Polytechnic Institute Jarred James Raymond Worcester Polytechnic Institute Follow this and additional works at: https://digitalcommons.wpi.edu/mqp-all Repository Citation Palooparambil, A., Moussette, D. S., & Raymond, J. J. (2010). Optimization and Control Design of an Autonomous Underwater Vehicle. Retrieved from https://digitalcommons.wpi.edu/mqp-all/294 This Unrestricted is brought to you for free and open access by the Major Qualifying Projects at Digital WPI. It has been accepted for inclusion in Major Qualifying Projects (All Years) by an authorized administrator of Digital WPI. For more information, please contact [email protected]. Project Number: AE- IIH-0003 Optimization and Control Design of an Autonomous Underwater Vehicle A Major Qualifying Project Report: submitted to the Faculty of the WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Science in Aerospace Engineering by Daniel Moussette Ashish Palooparambil Jarred Raymond Date: Thursday, April 29, 2010 Approved: Professor Islam Hussein, Major Advisor Keywords Professor William Michalson, Co-Advisor 1. Autonomous 2. Submarine 3. Hydrodynamic Certain materials are included under the fair use exemption of the U.S. Copyright Law and have been prepared according to the fair use guidelines and are restricted from further use. Abstract Autonomous vehicles are increasingly being investigated for use in oceanographic studies, underwater surveillance, and search operations. Research currently being done in the area of autonomous underwater craft is often hindered by expense. This project seeks to complete the construction, optimization, and control software development of an inexpensive miniature underwater vehicle. During the course of the project all of the vehicle’s mechanical and electrical subsystems were completed. Propeller-driven primary thrusters using a magnetically coupled drive system were optimized and manufactured. A battery powered electrical subsystem was also designed and installed on the vehicle. A simulation of the vehicle’s control algorithm was developed in MATLAB and several full vehicle tests were conducted in the WPI swimming pool. i Executive Summary The primary objective for the 2009-2010 Autonomous Underwater Vehicle (AUV) Major Qualifying Project (MQP) was to program, optimize, and complete work on an existing submersible platform built by the AUV MQP group from the 2008-2009 school year. Upon completion, this vehicle will provide a low cost, highly adaptable platform for testing autonomous software and hardware. There are AUV platforms available commercially, however they are typically too costly or not adaptable enough to test various systems. In order to complete the objective the group fabricated and optimized various hardware and integrated vehicle simulations into vehicle programs. A final test was conducted to demonstrate the vehicle’s ability to perform a simple autonomous mission profile. The mission profile consisted of the vehicle diving to a prescribed depth, traveling forward for a distance, and then surfacing. An image of the vehicle during the final test can be seen in Figure A below. ii Figure A: Vehicle during Final Mission Testing Additional work is required to complete the control algorithms and integrate sensor systems in the vehicle. Once complete, the vehicle should display full autonomy in all operations in the water. These additional efforts will eventually allow the vehicle to perform more complex missions such as searching for foreign objects or communicating with other autonomous vehicles. iii Acknowledgements We would like to thank Professor Islam Hussein and Professor William Michalson for their guidance and expertise throughout the duration of this project, Neil Whitehouse for his assistance in manufacturing components, Tanvir Anjum for his assistance with the electronics and programming, and Russel Morrin for his technical guidance. iv Nomenclature AC Alternating Current ADC Analog to Digital Converter AFL Actuator Front Left AFR Actuator Front Right Ah Ampere-Hour ARL Actuator Rear Left ARR Actuator Rear Right ATX Advanced Technology Extended C Celsius DAC Digital to Analog Converter DC Direct Current E Volts F Fahrenheit FDS Front Drain Solenoid FFS Front Fill Solenoid Gb Gigabyte GHz Gigahertz I Amperes I/O Input/Output I2C Inter Integrated Circuit Control L Inductance m Meters v m/s Meters per Second MOSFET Metal-Oxide-Semiconductor Field Effect Transistor n Turns ratio N Number of turns P Power PCB Printed Circuit Board PTL Primary Thruster Left PTR Primary Thruster Right RDS Rear Drain Solenoid RFS Rear Fill Solenoid s Seconds SPI Serial Peripheral Interface V Volts W Watts Wh Watt-Hour WPI Worcester Polytechnic Institute Z Impedance vi Table of Contents ABSTRACT ............................................................................................................................................................... I EXECUTIVE SUMMARY ........................................................................................................................................... II ACKNOWLEDGEMENTS ......................................................................................................................................... IV NOMENCLATURE ................................................................................................................................................... V TABLE OF CONTENTS ............................................................................................................................................ VII TABLE OF FIGURES ................................................................................................................................................. X LIST OF TABLES .................................................................................................................................................... XII 1 INTRODUCTION ............................................................................................................................................ 1 2 BACKGROUND INFORMATION ...................................................................................................................... 4 2.1 VEHICLE HULL DESIGN ........................................................................................................................................... 5 2.2 FLUID SYSTEMS .................................................................................................................................................... 7 2.3 THRUSTER SYSTEMS .............................................................................................................................................. 8 2.3.1 Stabilizing Thrusters ............................................................................................................................... 9 2.3.2 Main Thrusters ..................................................................................................................................... 10 2.4 BALLAST SYSTEM ................................................................................................................................................ 10 2.5 POWER SYSTEM ................................................................................................................................................. 13 2.6 ELECTRONICS ..................................................................................................................................................... 14 2.6.1 Central Processing (PC/104 Stack) ...................................................................................................... 15 2.6.2 MSP430 Sub-Hub System .................................................................................................................... 17 2.6.3 Sensor Systems .................................................................................................................................... 20 2.7 AUV CONTROL ALGORITHMS ............................................................................................................................... 22 3 METHODOLOGY .......................................................................................................................................... 24 3.1 HULL ............................................................................................................................................................... 25 3.2 FLUID SYSTEMS .................................................................................................................................................. 25 3.2.1 Leak Checking ...................................................................................................................................... 25 3.3 THRUSTER SYSTEMS ............................................................................................................................................ 26 3.3.1 Water Jet Thrusters .............................................................................................................................. 26 3.3.2 Primary External Thrusters .................................................................................................................. 27 3.4 BALLAST