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18 H. AKYILDIZ ve E. TÜRKMEN

Figure 4. Fault Diagram of the ASV’s Propulsion System
4.1 Experienced Values of ASV
Experienced Values of ASV is (n) and (I) values related the each other. These values observed
from previous test or computational analysis. On the other hand, (X) value could be changed
according to operation area. By comparing the Experienced values obtained from previous test
or computational analysis to values measured during operation time, fault could be found.
4.2 Control Unit
The structure of the control unit mainly consist of mini-computer such as Sb-Rio, Raspberry Pi
or Arduino, communication component such as Radio Frekans (RF), Wi-Fi or X-Bee and other
electronic equipments suchs as cables, IMU, GPS modüle and motor controller.
4.3 Electrical Dynamics and Shaft Dynamics
The electrical dynamics are electrical engines that producing a torque QB needed to turn the
shaft and rotational shaft speed nB linked to propeller.
The shaft dynamics is generating thrust (T) and location (X) needed for propulsion.

GiDB|DERGi Sayı 5, 2016