Kalman Filter and PID Application on Underwater Vehicles

Authors : Serkan BUDAK, Muhammet Halis TEKİN, Akif DURDU, Cemil SUNGUR

Pages : 27-33

Doi:10.34110/forecasting.1125559

View : 22 | Download : 11

Publication Date : 2022-08-31

Article Type : Research Paper

Abstract :Unmanned underwater vehicles insert ignore into journalissuearticles values(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.
Keywords : AUV Atonomus Underwater Vehicle, ARM Acorn RISC Machine, IMU Inertial Measurement Unit, Kalman Filter, PID inser