Modelling of a cable-drogue docking system for AUV

被引：0
|
作者：
Li, Zeyu [1 ]
Liu, Weidong [1 ]
Li, Linfeng [1 ]
Guo, Liwei [1 ]
Li, Le [1 ]
机构：
[1] Northwestern Polytech Univ, Sch Marine Sci & Technol, Xian, Peoples R China
来源：
GLOBAL OCEANS 2020: SINGAPORE - U.S. GULF COAST | 2020年
关键词：
AUV docking; cable-drogue model;
D O I：
10.1109/IEEECONF38699.2020.9389249
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
In this paper, a novel cable-drogue docking system is proposed between AUV and mobile underwater platform. First, the cable-drogue docking system is graphically exhibited and introduced. The docking procedure is finished behind platform. Next, the coordinate systems are built. The cable-drogue's mathematical model is established as a link-joint-connected system, in which the mass and loads associated with each link are concentrated at the Joints. Then, subjected to the hydrodynamic forces on system, the kinematic and dynamic equations arc derived as a set of linear algebraic equations. Finally, numerical solution procedure is programmed. The models steady-state characteristics are studied by simulations, including the hydrodynamic force and the position of cable-drogue system. Also investigated are the dynamic characteristics in various velocities.
引用
收藏
页数：5
相关论文
共 50 条
  • [1] Modeling and adaptive controlling of cable-drogue docking system for autonomous underwater vehicles
    Li, Zeyu
    Liu, Weidong
    Li, Le
    Guo, Liwei
    Zhang, Wenbo
    [J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2022, 36 (02) : 354 - 372
  • [2] Dynamics and Control of Cable-Drogue System in Aerial Recovery of Micro Air Vehicles Based on Gauss's Principle
    Sun, Liang
    Beard, Randal W.
    Colton, Mark B.
    McLain, Timothy W.
    [J]. 2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 2009, : 4729 - +
  • [3] Design and Realization of a Cable-Drogue Aerial Recharging Device for Small Electric Fixed-Wing UAVs
    Wang, Liangxiu
    Li, Han
    Liu, Yunxiao
    Ai, Jianliang
    [J]. 2023 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS, ICUAS, 2023, : 926 - 932
  • [4] Thin cable system for ROV and AUV in JAMSTEC
    Murashima, T
    Aoki, T
    Tsukioka, S
    Hyakudome, T
    Yoshida, H
    Nakajoh, H
    Ishibashi, S
    Sasamoto, R
    [J]. OCEANS 2003 MTS/IEEE: CELEBRATING THE PAST...TEAMING TOWARD THE FUTURE, 2003, : 2695 - 2700
  • [5] Thin cable system for ROV and AUV in JAMSTEC
    JAMSTEC, 2-15 Natsushima-cho, Yokosuka Kanagawa 237-0061, Japan
    不详
    [J]. Oceans Conf Rec IEEE, 1600, (2695-2700):
  • [6] Thin cable system for ROV and AUV in JAMSTEC
    Murashima, T
    Nakajoh, H
    Aoki, T
    Ida, T
    Tsukioka, S
    Ishibashi, S
    Hyakudome, T
    Sasamoto, R
    Yoshida, H
    [J]. OCEANS 2003 MTS/IEEE: CELEBRATING THE PAST...TEAMING TOWARD THE FUTURE, 2003, : 354 - 354
  • [7] AUV docking system for sustainable science missions
    Podder, T
    Sibenac, M
    Bellingham, J
    [J]. 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 4478 - 4485
  • [8] EQUILIBRIUM-CONFIGURATIONS OF A CABLE DROGUE SYSTEM TOWED IN A HELICAL MOTION
    COHEN, Y
    MANOR, H
    [J]. INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE, 1988, 26 (08) : 771 - 786
  • [9] Cooperative Guidance System for AUV Docking with an Active Suspended Docking Station
    Yazdani, Amirmehdi
    Sammut, Karl
    Lammas, Andrew
    Clement, Benoit
    Yakimenko, Oleg A.
    [J]. OCEANS 2019 - MARSEILLE, 2019,
  • [10] Visual navigation and docking for a planar type AUV docking and charging system
    Wang, Tianlei
    Zhao, Qichao
    Yang, Canjun
    [J]. Ocean Engineering, 2021, 224
12345