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Hydrofoil stability using DC servo motor

Hydrofoil stability using DC servo motor / Durgesh Thiagarajan
Projek ini berdasarkan sistem kawalan untuk kestabilan hidrofoil dengan menggunakan “DC servo motor”. Kebanyakan motor servo digunakan untuk mengawal pergerakan lengan robot atau mengawal kestabilan untuk dua roda robot. Jadi, kita telah menggunakan “DC motor servo” untuk mengawal kestabilan bot hidrofoil. “IMU sensor” adalah digunakan untuk menghubungkan dengan “DC motor servo” untuk mengawal aileron hidrofoil untuk mencapai prestasi optimum kestabilan. Selain itu, fungsi sensor menjadi sangat penting untuk mengekalkan nilai yang dikehendaki. ITG3200 gyroscope dan ADXL345 accelerometer digunakan dalam projek ini untuk mengekalkan nilai yang dikehendaki untuk kestabilan. Selain itu, penapis pelengkap digunakan untuk menapis bunyi bising dan hanyut kesilapan accelerometer dan gyroscope. Data yang ditapis oleh sensor boleh menentukan sudut putaran yang tepat. Kemudian, data sensor digunakan untuk mengawal “DC servo motor” yang melibatkan kawalan PID untuk mendapatkan tindak balas yang baik. Akhir sekali, kaedah pembuatan perahu dijelaskan secara terperinci dengan bahan-bahan yang sesuai. _______________________________________________________________________________________________________ The project based on the application of stability control system of hydrofoil by using the DC servo motor. Most of the time servo motors are used to control movement of robotic arm or control stability for two-wheel robot. So, the DC servo motor was applied to control the stability of hydrofoil boat by controlling aileron of the boat. The IMU sensor is connected to the DC servo motor to control the hydrofoil’s aileron for optimum performance of the stability. Besides, the function of the sensors become very vital to maintain the desired value. The ITG3200 gyroscope and ADXL345 accelerometer is used in this project to maintain the desired value for stability. Moreover, the complementary filter is applied to remove bias and drift error of the accelerometer and gyroscope. The filtered data of the sensor can precisely determine the angle of rotation. Then, the data of the sensor is used to control the DC servo motor which involve PID controller to get good response in term of overshoot, settling time and steady state error. Finally, the boat manufacturing method was explained in detail with suitable materials.
Contributor(s):
Durgesh Thiagarajan - Author
Primary Item Type:
Final Year Project
Identifiers:
Barcode : 00003107100
Accession Number : 875007221
Language:
English
Subject Keywords:
control system of hydrofoil; DC servo motor; control movement of robotic arm
First presented to the public:
6/1/2017
Original Publication Date:
4/17/2018
Previously Published By:
Universiti Sains Malaysia
Place Of Publication:
School of Electrical & Electronic Engineering
Citation:
Extents:
Number of Pages - 61
License Grantor / Date Granted:
  / ( View License )
Date Deposited
2018-04-17 12:29:56.231
Date Last Updated
2019-01-07 11:24:32.9118
Submitter:
Mohd Jasnizam Mohd Salleh

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