Abstract
This paper presents the analysis of the electric propulsion system used in Underwater Robotic Research Group's (URRG)-Autonomous Surface Vessel (ASV) at different Pulse Width Modulation (PWM) values. The system is driven by two propellers that are each coupled to a DC electric motor. An experiment has been conducted to observe the relation between the PWM values and the thrust produced by the propulsion system. A Statistical Design of Experiment (DOE) method; known as the Completely Randomized Design (CRD), was used to plan the experiment in order to improve the validity of the experimental data. The statistical methods known as the One-Way Analysis of Variance (ANOVA), Fisher's Least Significant Difference (LSD), and regression were used to analyze the data. The analysis showed that the PWM values have a significant effect on the mean amount of thrust. The amount of thrust increases linearly as the PWM value increase by 0.28 for 5% increase in PWM value.
| Original language | English |
|---|---|
| Pages (from-to) | 607-613 |
| Number of pages | 7 |
| Journal | Procedia Engineering |
| Volume | 41 |
| DOIs | |
| Publication status | Published - 2012 |
| Externally published | Yes |
| Event | 2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 - Kuching, Sarawak, Malaysia Duration: 4 Sept 2012 → 6 Sept 2012 |
Keywords
- Autonomous surface vessel
- Completely randomized design
- Design of experiment
- Electric propulsion system