Dynamics modeling and simulation of autonomous underwater vehicles with appendages

被引：12

作者：

Su Y. ^{[1
]}

Zhao J. ^{[1
]}

Cao J. ^{[1
]}

Zhang G. ^{[1
]}

机构：

[1] State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin

来源：

Journal of Marine Science and Application | 2013年 / 12卷 / 1期

基金：

中国国家自然科学基金;

关键词：

appendages; autonomous underwater vehicle (AUV); dynamics modeling; motion performance; simulation system;

D O I：

10.1007/s11804-013-1169-6

中图分类号：

学科分类号：

摘要：

To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle's (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV's motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages. © 2013 Harbin Engineering University and Springer-Verlag Berlin Heidelberg.

引用

页码：45 / 51

页数：6

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