Thruster Modeling for a Hovering Autonomous Underwater Vehicle Considering Thruster-Thruster and Thruster-Hull Interaction

被引：0

作者：

Song, Yoong Siang ^{[1
]}

Arshad, Mohd Rizal ^{[1
]}

机构：

[1] USM, UCRG, Sch Elect & Elect Engn, Nibong Tebal 14300, Pulau Pinang, Malaysia

来源：

2016 IEEE 6TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS | 2016年

关键词：

thruster modeling; autonomous underwater vehicle; thruster-hull interaction; thruster-thruster interaction; IDENTIFICATION;

D O I：

暂无

中图分类号：

P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

This paper presents the thruster modeling for a Hovering Autonomous Underwater Vehicle developed by Underwater, Control, and Robotics Group. Bollard-pull experiments are done to find the relationship between axial forces generated by thrusters and input signal given to Arduino Uno board in degree, taking into account the effect of thruster-thruster and thruster-hull interaction. Experiments results show that a thruster will lose efficiency due to the interaction with the vehicle's body. Besides, experiment results also show that the effect of thruster-thruster interaction is not obvious for far separating thrusters.

引用

页码：100 / 104

页数：5

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