Modeling and simulation of a mini AUV in spatial motion

被引：24
作者：
Wang B. [1 ]
Wan L. [1 ]
Xu Y.-R. [1 ]
Qin Z.-B. [1 ]
机构：
[1] State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University
来源：
Journal of Marine Science and Application | 2009年 / 8卷 / 1期
关键词：
AUV; Dynamics model; Kinematics model; Motion control; Simulation;
D O I：
10.1007/s11804-009-8054-8
中图分类号：
学科分类号：
摘要：
Accurate modeling and simulation of autonomous underwater vehicle (AUV) is essential for autonomous control and maneuverability research. In this paper, a mini AUV- "MAUV-II" was researched and the nonlinear mathematic model of the AUV in spatial motion was derived based on momentum theorem. The forces acting on AUV were resolved to several modules which were expressed in matrix form. Based on the motion model and combined with virtual reality technology, a motion simulation system was constructed. Considering the characteristic of "MAUV-II", the heading control and depth control were simulated by adopting S-surface control method. A long distance traveling simulation experiment based on target planning was also done. The simulation results show that the "MAUV-II" has good spatial maneuverability, and verify the feasibility and reliability of control software. © 2009 Harbin Engineering University and Springer-Verlag GmbH.
引用
收藏
页码：7 / 12
页数：5
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