A Dynamic Model for Underwater Vehicle Maneuvering Near a Free Surface

被引：12

作者：

Battista, Thomas ^{[1
]}

Woolsey, Craig ^{[1
]}

Perez, Tristan ^{[2
]}

Valentinis, Francis ^{[3
]}

机构：

[1] Virginia Tech, Aerosp & Ocean Engn, Blacksburg, VA 24061 USA

[2] Queensland Univ Technol, Elect Engn & Comp Sci, Brisbane, Qld, Australia

[3] Def Sci & Technol Grp, Dept Def, Melbourne, Vic, Australia

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 23期

关键词：

Underwater Vehicles; Control Oriented Models; Nonlinear Models;

D O I：

10.1016/j.ifacol.2016.10.323

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces a,physics-based and control-oriented underwater] vehicle model for near-surface operations. 0 construct the model, we follow an energy-based Lagrangian approach, where the presence of the free surface is incorporated using a free surface Layranyian. This effectively modifies the system energy commonly used to derive the Kirchhoff equations, which govern underwater vehicle motion in an unbounded ideal fluid. The system Lagrangian is then used to derive the 6-DOU equations of motion for art underwater vehicle maneuvering neat the free surface in otherwise calm seas. To illustrate the additional capabilities of the proposed model we present an analytical hydrodynamic solution for a circular cylinder traveling parallel to the free surface. Comparisons are also drawn between the proposed model and the Cummins model (Cummins, 1962). While Cummins' model exactly satisfies the free surface boundary condition and approximately satisfies the body boundary condition, we choose to exactly satisfy the body boundary condition and approximately satisfy the free surface condition. This exchange removes the restriction that limits 1,the Cummins equations to slow-maneuvering in a seaway. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：68 / 73

页数：6

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