Sunday, April 12, 2009

Depth and Pitch Test

The team successfully completed a stable depth and pitch test of the AUV. After tweaking the integral and derivative terms in our PID depth controller we were able to eliminate any oscillation and achieve a very acceptable settling time. The depth cell which was used for this test has a slight bias that caused a small amount of depth error but this problem will be rectified shortly when the new cell is installed.

video

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