Dynamics Modeling and Control Simulation of an Autonomous Underwater Vehicle

被引：7

作者：

Liu, Guijie ^{[1
]}

Chen, Gong ^{[1
]}

Jiao, Jianbo ^{[1
]}

Jiang, Ruilin ^{[2
]}

机构：

[1] Ocean Univ China, Shandong Prov Key Lab Engn, Qingdao 266100, Peoples R China

[2] China Ocean Oilfield Serv Ltd, Beijing 101149, Peoples R China

来源：

JOURNAL OF COASTAL RESEARCH | 2015年

关键词：

Autonomous underwater vehicle; dynamics; modeling; virtual prototype; simulation;

D O I：

10.2112/SI73-127.1

中图分类号：

X [环境科学、安全科学];

学科分类号：

08 ; 0830 ;

摘要：

A dynamics model of an open-shelf Autonomous underwater vehicle (AUV) is described in this paper. The virtual prototype technology and the control simulation software are used to build the virtual prototype model of AUV, and AUV dynamic location control arithmetic is simulated based on analyzing motion and hydrodynamic mathematical model of the virtual prototype. The simulation results indicate that the virtual prototype system has the function of simulation demo and performance validation, and can provide one kind of new method for AUV graphic simulation, and has very important practical meaning on AUV design and control research.

引用

页码：741 / 746

页数：6