Modeling and Maneuverability Simulation for Vertical Plane of Autonomous Underwater Vehicle in Current

被引：0
|
作者：
Yang Kun [1 ,2 ]
Sui Haichen [1 ,2 ]
An Li [3 ]
Jiang Yanqing [3 ]
Wang Youkang [3 ]
Sun Yeyi [3 ]
Li Ye [3 ]
机构：
[1] MOT, Tianjin Res Inst Water Transport Engn, Tianjin 300456, Peoples R China
[2] Tianjin Survey & Design Inst Water Transport Engn, Tianjin Key Lab Surveying & Mapping Water Transpo, Tianjin 300456, Peoples R China
[3] Harbin Engn Univ, Sci & Technol Underwater Vehicles Lab, Harbin 150001, Heilongjiang, Peoples R China
来源：
2018 2ND INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE APPLICATIONS AND TECHNOLOGIES (AIAAT 2018) | 2018年 / 435卷
基金：
国家重点研发计划;
关键词：
D O I：
10.1088/1757-899X/435/1/012060
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
As the large diving depth Autonomous underwater vehicle (AUV) developed, modeling and maneuverability simulation for AUV in vertical plane under current disturbance are increasingly important. The REMUS model is adopted to build the mathematical model of AUV. The observation data of the current in South China Sea are analysed to build the current model varied with depth, then the relative motion method is adopted to build the model of AUV in current. The simulation system of maneuverability is established with MFC and some simulation experiments including without current and in current are carried out. The results show that the motion of AUV can be well simulated and some suggestions are given for vertical plane control of AUV.
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页数：6
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