Design Configuration of Horizontal Motion Control System for Unmanned Underwater Vehicle

Abstract Unmanned underwater vehicles (UUVs) represent a significant advancement in underwater technology, offering a promising alternative for conducting underwater operations. One of the most prominent concepts is the hybrid UUV which provides many operational advantages. Nevertheless, this concept necessitates the implementation of an interplanetary energy system that is constrained in its capacity. Consequently, the propulsion system must exhibit optimal efficiency while simultaneously ensuring the requisite levels of manoeuvrability and controllability. To meet these requirements, one way that can be done is to use an adjustable thruster angle configuration. However, the change in configuration affects the dynamics model of the UUV, which in turn affects the control system. To overcome this problem, an electronic module will be designed to be able to accommodate thruster changes for all motions in the horizontal plane with on-the-fly parameter changesSTM32F4111 will be used as the computing centre to control 4 motors in the horizontal plane. To be able to make parameter changes, the Robot Operating System (ROS) is used as communication between the control unit and the microcontroller. The control system will be analysed by observing the yaw angle output from the GY-25 sensor during forward motion. The parameter values for each angle will be obtained through tuning, resulting in a maximum decrease in the error value of 3° for the 15° angle, 2° for the 30° angle, and 1° for the 45° angle. The discrepancy in the manoeuvrability capabilities of the UUV for each angle configuration in forward movement is 15°, with a 23% difference, in backward movement it is 15°, with a 24% difference, in right movement it is 45°, with a 59% difference, and in rotation movement it is 45°, with a 33% difference. These discrepancies suggest that the 45° configuration is the optimal choice when considering all movement types.