Design and Implementation of a Wired PID Based Altitude

Controlled Submersible Underwater Vehicle with Data

Acquisition Using Arduino Microcontroller
Christian Jay B. Carabio*, Marie Thalia Grace M. Amutan, Vanna Kaori S. Lustre,
Favis Joseph C. Balinado
Electronics Engineering Department, College of Engineering and Computer Studies
Lyceum of the Philippines University-Laguna (LPU-L), Laguna, Philippines
*Email: christianjaycarabio@gmail.com
Abstract
Submersible Underwater Vehicles or submarines was originated a long time back. It was used for
underwater surveillance, assessment and investigations. The proponents came up to the design
and implementation of underwater vehicle with data acquisition and altitude control in order to
maintain and hover the position of the SUV into the desired location. Other submersible
underwater vehicles were encountering problems in maintaining the position of the underwater
vehicle. This SUV is limited only to a rectangular pool area on which the SUV will be tested.
The idea of unmanned underwater vehicles has been the basis of the proponents in designing the
SUV in order to develop and implement a system that will become stable and maintain its
position with the help of the sensors, motors and active propellers. The temperature sensor is to
be used for the purpose of sensing the temperature of the water and send the data to the
microcontroller for data acquisition. The altitude sensor will determine the level of the water and
will help the vehicle to move on a more stabilize manner. It will be integrated and executed using
microcontroller specifically Arduino Uno R3. The proponents will also use HC-SR04 ultrasonic
sensor, LM35 Temperature sensor, a motor driver, MPL3115A2 Altitude sensor and underwater
camera. The system will be controlled using a joystick with input switches that will command
the vehicle to move forward, backward, left, right, sink and float. The Proportional, Integral and
Derivative (PID) contains set of rules given by the proponents to be the basis on determining the
altitude, temperature and distance of the vehicle. The altitude sensor and ultrasonic sensor will be
integrated on the motor driver to control the speed, accuracy and stability of the motor on order
to maintain and position the SUV on the desired location. Simulation results proved that the PID
algorithm used had provided the necessary control actions to meet the required time and steadystate parameters required in the output.

Keywords:
Submersible Underwater Vehicle(SUV), Arduino Uno R3,HC-SR04,LM35,MPL3115A2,PID