Kalman Filter and PID Application on Underwater Vehicles

Yıl 2022, , 27 - 33, 31.08.2022

Serkan Budak , Muhammet Halis Tekin , Akif Durdu , Cemil Sungur

https://doi.org/10.34110/forecasting.1125559

Cited By: 1

Öz

Unmanned underwater vehicles (ROV/AUV) are autonomous or remotely controlled robotic systems that can move underwater at any desired angle. Unmanned underwater vehicles; It is used in areas such as underwater image taking, ship maintenance and repair, coast guard, examination of shipwrecks, underwater cleaning. In this study, the software design of the balance control of underwater vehicles was carried out using the PID algorithm. For the PID algorithm trial, a two-motor test setup with an IMU sensor was prepared. After the data from the sensor were recorded in MATLAB using the Kalman filter, the transfer function of the system was obtained using the System Identification Toolbox. With the obtained transfer function, the stable operation of the system is provided in real time. As a result of the research on software and hardware integration, microcontroller ARM-based STM32 was used.

Anahtar Kelimeler

AUV (Atonomus Underwater Vehicle), ARM (Acorn RISC Machine), IMU (Inertial Measurement Unit), Kalman Filter, PID (Proportional Integral Derivative), ROV (Remoted Operating Vehicle)

Kaynakça

• [1] Canlı, G. A., Kurtoğlu, İ., Canlı, M. O., & Tuna, Ö. S. “Dünyada ve Ülkemizde İnsansız Sualtı Araçları İSAA-AUV & ROV Tasarım ve Uygulamaları” Gidb Dergi(04), 43-75. Lee, K.-F., Automatic Speech Recognition: The Development of the SPHINX SYSTEM, Kluwer Academic Publishers, Boston, 1989.
• [2] A. Z. Abidin, R. Mardiyanto and D. Purwanto, "Implementation of PID controller for hold altitude control in underwater remotely operated vehicle," 2016 International Seminar on Intelligent Technology and Its Applications (ISITIA), 2016, pp. 665-670, doi: 10.1109/ISITIA.2016.7828739.
• [3] S. Li, L. Kong, X. Nie and J. Li, "Design and Realization of Two-Wheeled Auto-Balancing Vehicle," 2015 4th International Conference on Advanced Information Technology and Sensor Application (AITS), 2015, pp. 36-38, doi: 10.1109/AITS.2015.16.
• [4] B. H. Prasetio, "Ensemble Kalman filter and PID controller implementation on self balancing robot," 2015 International Electronics Symposium (IES), 2015, pp. 105-109, doi: 10.1109/ELECSYM.2015.7380823.
• [5] Özkaya, U., MAKİNECİ, H. B., Öztürk, Ş., & Orhan, O. (2021). Mozaiklenmiş İnsansız Hava Aracı Görüntülerinde Eksik Bölgelerin Exemplar İç Boyaması ile Elde Edilmesi. Geomatik, 6(1), 61-68.
• [6] S. Kumar, Vijaydeep and P. Gupta, "Self-balancing vehicle using Kalman Filter," 2017 International Conference on Communication and Signal Processing (ICCSP), 2017, pp. 1496-1499, doi: 10.1109/ICCSP.2017.8286635.
• [7] E. Ataner, B. Özdeş, A. Durdu ve H. Terzioğlu, "STM32 Based Underwater Control Card Design", Avrupa Bilim ve Teknoloji Dergisi, ss. 351-356, Eki. 2020, doi:10.31590/ejosat.804609b