Development of a Low-Level Control System for the ROV Visor3

Table 2

Visor3’s thruster parameters.

Parameter	Value
Motor and driver
High/low voltage driver saturation	V
Slew rate	V s
Driver gain
Motor gain	rpm/V
Seawater density	kg/
Propeller
Diameter	cm
Pitch	cm
Blade area ratio
Pitch ratio
Thrust coefficients
Torque coefficients