Dynamics Modeling and Simulation of Autonomous Underwater Vehicles with Appendages

To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for...

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Bibliographic Details
Published in:Journal of marine science and application 2013-03, Vol.12 (1), p.45-51
Main Authors: Su, Yumin, Zhao, Jinxin, Cao, Jian, Zhang, Guocheng
Format: Article
Language:English
Subjects:
Electrical Machines and Networks
Engineering
Geotechnical Engineering & Applied Earth Sciences
Machinery and Machine Elements
Offshore Engineering
Power Electronics
Research Paper
仿真系统
动力学建模
动态模型
模拟系统
自主水下航行器
自治水下机器人
运动控制器
附体
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Description
Summary:To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.
ISSN:1671-9433
1993-5048
DOI:10.1007/s11804-013-1169-6