Title :
A simplified dynamics modeling of a spherical underwater vehicle
Author :
Lin, Xichuan ; Guo, Shuxiang ; Hao, Yanling ; Ye, Xiufen ; Qiu, Chenguang ; Du, Juan
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin
Abstract :
This paper proposes a spherical underwater vehicle which is propelled by water-jetted motors. It has many characteristics such as small size, light weight, flexibility of motion and noiselessness. In this paper, the dynamics model of the vehicle is analysed according to its design; and the vehicle´s dynamics model is developed. The dynamics model of propellers for the vehicle is also analysed for modeling. For the sake of simplification, only two hydrodynamic damping forces are taken into account when dealing with this spherical underwater vehicle. Dynamics modeling is simplified according to the architecture and kinematic characteristics of this spherical underwater vehicle.
Keywords :
damping; hydrodynamics; propellers; underwater vehicles; vehicle dynamics; hydrodynamic damping forces; simplified dynamics modeling; spherical underwater vehicle; water-jetted motors; Automotive engineering; Damping; Equations; Hydrodynamics; Kinematics; Propulsion; Robotics and automation; Testing; Underwater vehicles; Vehicle dynamics; added mass; dynamics equation; lineal damping; quadratic damping; spherical underwater vehicle;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913161
