Control of Underwater Vehicles in Full Unsteady Flow

被引：12

作者：

Levedahl, Blaine A. ^{[1
]}

Silverberg, L. ^{[1
]}

机构：

[1] N Carolina State Univ, Dept Mech & Aerosp Engn, Raleigh, NC 27695 USA

来源：

IEEE JOURNAL OF OCEANIC ENGINEERING | 2009年 / 34卷 / 04期

关键词：

Fluid compensation; submarine control; unmanned underwater vehicle (UUV) control; unsteady flow; vehicle modeling; AIRCRAFT;

D O I：

10.1109/JOE.2009.2027798

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

In this paper, a general formulation of the problem of control of underwater vehicles in full unsteady flow is presented. First, a reduced-order model of the coupled fluid vehicle (CFV) system is developed. The inability to observe fluid motion motivates a fluid compensation control (FCC) approach that compensates for the hydrodynamic loads synthesized from surface measurements. The FCC consists of a tracker, a regulator, and a fluid compensator. A condition is provided that guarantees vehicle stability. The tradeoff between regulation and fluid compensation is also examined. A numerical example of an elliptically shaped vehicle illustrates the results.

引用

页码：656 / 668

页数：13

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