Title :
Nonlinear dynamics performance prediction of large AUV
Author :
Li Ye ; Su Qinglei ; Yin Mulan ; Fang Lin
Author_Institution :
Nat. Key Lab. of Autonomous Underwater Vehicle Technol., China
Abstract :
In this paper, considering the impact of current environment, the stress of the large AUV was analyzed and its motion simulation model based on the six degrees freedom of motion equations was established. Working on a hull with wings as the computational model by using CFD software to simulate tank experiments, the major hydrodynamic coefficients of the large AUV were calculated. With the same method, the lift and drag curves of rudders were obtained. Found on those data, established the manipulation motion simulation system of the large AUV to analyzed its maneuverability in the horizontal and vertical. Simulation results show that this AUV has a good maneuverability, while the motion simulation system can provide some technical support for the design and debug of the AUV´s controller.
Keywords :
autonomous underwater vehicles; computational fluid dynamics; control engineering computing; hydrodynamics; mechanical engineering computing; mobile robots; robot dynamics; AUV controller debugging; AUV controller design; AUV horizontal maneuverability; AUV vertical maneuverability; CFD software; autonomous underwater vehicle; computational fluid dynamics; hydrodynamic coefficients; large AUV; manipulation motion simulation system; motion equations; motion simulation model; nonlinear dynamics performance prediction; rudder drag curve; rudder lift curve; Computational modeling; Drag; Equations; Force; Hydrodynamics; Mathematical model; Propellers; Hydrodynamic; Maneuverability; Motion simulation; Underwater vehicle;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
