Dynamic Analysis of Landing Autonomous Underwater Vehicle

In autonomous underwater vehicles （AUVs） the onboard power used to complete missions is limited. To solve this problem, a landing AUV has been designed, which conserves energy by sitting on the seafloor while moni- toring the ocean. In order to study the dynamic behaviors for better control of the A...

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Bibliographic Details
Published inTransactions of Tianjin University Vol. 18; no. 4; pp. 298 - 304
Main Author 杜兵 蒋永翔 张宏伟
Format Journal Article
LanguageEnglish
Published Heidelberg Tianjin University 01.08.2012
Subjects
AUV
Engineering
Humanities and Social Sciences
Mechanical Engineering
multidisciplinary
Science
动态模型
动态行为
模拟显示
直线运动
自主水下航行器
自治水下机器人
角动量定理
dynamic analysis
landing AUV
dynamic modeling
power requirement
Online AccessGet full text
ISSN1006-4982
1995-8196
DOI10.1007/s12209-012-1808-4

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Summary:In autonomous underwater vehicles （AUVs） the onboard power used to complete missions is limited. To solve this problem, a landing AUV has been designed, which conserves energy by sitting on the seafloor while moni- toring the ocean. In order to study the dynamic behaviors for better control of the AUV, the dynamic analysis of the landing AUV is presented in this paper. Based on the momentum theorem and the angular momentum theorem, the dynamic model of the landing AUV is derived. The simulations of rectilinear motion, rotary motion and helix motion indicate the dynamic behaviors of the AUV. The ocean experiments validate the dynamic model presented in this pa- per. The experiments also verify that the landing AUV can work for a longer time than common AUVs.
Bibliography:12-1248/T
landing AUV; power requirement; dynamic analysis; dynamic modeling
In autonomous underwater vehicles （AUVs） the onboard power used to complete missions is limited. To solve this problem, a landing AUV has been designed, which conserves energy by sitting on the seafloor while moni- toring the ocean. In order to study the dynamic behaviors for better control of the AUV, the dynamic analysis of the landing AUV is presented in this paper. Based on the momentum theorem and the angular momentum theorem, the dynamic model of the landing AUV is derived. The simulations of rectilinear motion, rotary motion and helix motion indicate the dynamic behaviors of the AUV. The ocean experiments validate the dynamic model presented in this pa- per. The experiments also verify that the landing AUV can work for a longer time than common AUVs.
ISSN:1006-4982
1995-8196
DOI:10.1007/s12209-012-1808-4