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Development and Commissioning of a DP system for ROV SF 30k
Norwegian University of Science and Technology, Faculty of Engineering Science and Technology, Department of Marine Technology.
2012 (English)MasteroppgaveStudent thesis
Abstract [en]

This Master thesis details the development of a mathematical model of ROV SF 30k, and its implementation into a DP control system developed by Espen Tolpinrud. The project was performed as a part of the Applied Underwater Robotics at NTNU. A 6DOF model of the ROV was developed. The parameters of the model were found using both the 3D model of the ROV provided by Sperre AS, and based on the parameters found previously for ROV Minerva. Both ROVs were developed by Sperre AS and share many similarities. Thrust configuration was developed for the ROV based on the geometric positions and orientations of its thrusters, while thrust coefficients were found using propeller data provided by Sperre AS. The DP control system was configured to operate SF 30k by using a configuration file based on the found parameters. A number of modules were ported from the old DP system, which was tailormade for ROV Minerva, to the new one. This includes the Kalman Filter, controllers and thrust allocation. An adaptive passive nonlinear observer was developed and implemented. The existing simulator model for ROV Minerva was modified to be able to simulate ROV SF 30k. This was done by changing the parameters of the process plant model and thrust dynamics. The parameters in the configuration file for the new control system were verified during sea trials onboard R/V Gunnerus on May 29-30th 2012. The thrust allocation parameters were found to be satisfactory during ROV operation, however, the mathematical model of the ROV could not be verified due to the small window of operation during the sea trials.

Place, publisher, year, edition, pages
Institutt for marin teknikk , 2012. , 96 p.
Keyword [no]
ntnudaim:7590, MTMART Marin teknikk, Marine konstruksjoner
URN: urn:nbn:no:ntnu:diva-18559Local ID: ntnudaim:7590OAI: diva2:566076
Available from: 2012-11-08 Created: 2012-11-08

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