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All Journal International Journal of Power Electronics and Drive Systems (IJPEDS)
Mohamed Moustanir
National High School of Electricity and Mechanics
Control & Systems Engineering Electrical & Electronics Engineering

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Four propellers submarine drone modelling in a real environment Mohamed Moustanir; Karim Benkirane; Adil Sayouti; Hicham Medromi
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 12, No 4: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijpeds.v12.i4.pp1966-1977

Abstract

In order to reduce the hydrodynamic dampers and mechanical elements as rudders, we have in our previous publications proposed our architectural solution of an ROV with only four thrusters without rudders or diving bars. In the results we have justified the choice of the arrangement of the thrusters. Also, we have started the kinematic and dynamic studies of the marine robot and we have especially demonstrated by using the mathematical model under MATLAB in the last publication, that this ROV can move in a perfect environment without gravity or hydrodynamic dampers. In this article, we will study the behavior of this marine vehicle in a real environment with gravity and hydrodynamic dampers and we will view if this architectural solution can really allow the ROV to move and execute the given directional instructions.
Co-Authors Adil Sayouti Hicham Medromi Karim Benkirane