Dynamic Control of an Underwater Vehicle near Wave Surface

被引：0

作者：

Yoon, Gyeong Hwan ^{[1
]}

Seo, Ju Won ^{[1
]}

Yoon, Hyeon Kyu ^{[2
]}

机构：

[1] Changwon Natl Univ, Dept Ecofriendly Offshore Plant FEED Engn, Chang Won, South Korea

[2] Changwon Natl Univ, Dept Naval Architecture & Marine Engn, Chang Won, South Korea

来源：

OCEANS 2018 MTS/IEEE CHARLESTON | 2018年

关键词：

wave force; autonomous underwater vehicle; dynamics; wave surface; motion control;

D O I：

暂无

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：

The dynamic control of an underwater vehicle near wave surface is dealt with in order to resolve the crucial weakness of the motion of an underwater vehicle in such situation. For the sake of dynamic modeling of surface wave disturbances, first, a simple model of a commercial autonomous underwater vehicle is considered. Next, wave forces and wave moments per unit wave amplitude depending on wave frequency, wave direction, and operating depth are calculated using numerical analysis software, ANSYS AQWA. Then, sparse numerical results of wave forces and wave moments are interpolated numerically to use in continuous cases for wave frequency, wave direction, and operating depth. The results of numerical interpolation for wave force and moment are used in making dynamic wave modeling equations and for wave disturbances in dynamic simulation. Then, dynamic characteristics of underwater vehicle is analyzed and the dynamic relations between wave force and dynamic control inputs are investigated. The results of dynamic control with the uses of control fins and a thruster in wave have shown useful to analyze the underwater vehicle's motion characteristics near wave surface

引用

页数：7

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