Modelling and Control of Underwater Vehicle (Sparus)

A project for the modelling and control of the IQUA Robotics autonomous underwater vehicle called Sparus. This project is submitted as part of the evaluation of the Underwater Robotics course in the Marine and Maritime Intelligent Robotics Master, Université de Toulon.
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Description

The Sparus autonomous underwater vehicle, developed by IQUA Robotics, is specialized for shallow waters up to 200 meters deep. It features a rear configuration with two horizontal thrusters and a central vertical thruster, enabling precise maneuverability. The vehicle is equipped with an antenna for wireless communication, a Doppler Velocity Log (DVL) and an Ultra-Short Baseline (USBL) system for accurate navigation, an Inertial Measurement Unit (IMU) for orientation, and depth sensors for depth measurement. The vehicle's modeling approach is tailored to optimize control by effectively utilizing its parameters, ensuring reliable and precise performance in its designated tasks underwater.

Image of IQUA Robotics Sparus

Tasks Completed in the project include:

1. Computation of the rigid-body general mass matrix (including the mass matrix and the inertia tensors) and the added-mass matrix.
2. Drag Parameters Identification
3. Coriolis Components Modelling
4. Thruster Modelling
5. Validating using a Simulink-based Simulator

The original simulator is in the SparusSim folder (although there are a couple of problems in the original simulator which have been corrected in the SimSolution folder) while the solutions from the modelling and testing are implemented in the SimSolution folder. Tasks 1-3 are initially developped in the SparusIICalculations.mlx file. While tasks 1-4 are implemented in the files: SimSolution/parameters.m and SimSolution/RovModel.m. The validation is evaluated by running the simulator in SimSolution/Sparus_3D_advance_model.mdl while the data obtained are plotted using the codes in SimSolution/plotting.m.

Software Used

• MATLAB
• Simulink

Usage

1. Open the Simulink file in SimSolution/Sparus_3D_advance_model.mdl
2. Implement the command using SimSolution/command.m or the matrix input in the Simulink simulation. (Take note of the switch between both modes)
3. The plotting function is added as a stopFcn() to the Simulink simulation.

Contact Contributors

• Farooq Olanrewaju - [email protected], [email protected]
• Nimra Jabeen - [email protected]

For more information on the project analysis, check: Underwater_Robotics_Report.pdf

Supervisor: Dr. Mathieu Richier, Maitre Conference, Université de Toulon.

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