Autonomous Depth Control Experiment a Success!
Today’s experiment demonstrated the depth control algorithm that allows the AUV to maintain a fixed depth autonomously.
The closed loop system consists of the depth control program running on the F2812 DSP board, a pressure sensor, the two vertical thrusters and the driving MOSFET. The software continually monitors the output voltage of the pressure sensor, which increases with pressure, through the onboard A/D converter. It then compares this value with that corresponding to the desired depth and sets the duty cylcle of the PWM signal driving the thrusters proportional to that difference.
As the video shows, the system proved to be very effective. It maintains depth precisely and produces minimal oscillation.
