APPLICATION OF PISTON BALLASTING SYSTEM ON ROV USING FUZZY LOGIC CONTROLLER METHOD Imam Sutrisno, Eka Ayu Gustiawati, Urip Mudjiono, Didik Dwi Suharso and Fahmi Umasangadji
Politeknik Perkapalan Negeri Surabaya
Abstract
ROV is an underwater vehicle maritime technology. To be able to dive, ROV must be able to float,
dive and sink. The system to supports this work is the ballasting system. However, the development of
the ROV ballast system belonging to the Shipbuilding Institute of Polytechnic Surabaya^s research team
is currently limited manually by providing ballast in the form of stones tied to the ROV body. In this study,
the static piston tank auto-ballast system is used as a bouyancy function with the Fuzzy Logic Controller
method. This system utilizes a DC motor as a water circulator drive. The GY-BME280-5V sensor is used
to read the water depth value as a parameter and is displayed on the serial monitor and LCD. The control
system in this study uses the Arduino Mega2560 microcontroller connected to the ESP8266 and a
joystick to control the ballast tank setpoint to increase the effectiveness of using time and power. The
results of this study are ballast tanks at an average height- floats 0m of the water^s surface, dives 95cm
below the surface of the water and sinks 196cm below the surface of the water. The use of battery power
for 6 thrusters of ROV for 60 minutes of diving is in the form of a potential value of the remaining voltage
in the battery of 1V. Whereas for 2 ROV ballast tanks it is 0.17V. The difference in the use of ballast tank
power against the thruster is 0.83V, where the ballast system is able to minimize the use of battery
voltage.
