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Volume 15 Issue 6
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2007  >  15(6): 040-45
GE Hui, YAN Wei-sheng, XU De-min. Nonlinear Modelling of Control-Configured Underwater Vehicle in Complicated Oceanic Environment[J]. Journal of Unmanned Undersea Systems, 2007, 15(6): 040-45. doi: 10.11993/j.issn.1673-1948.2007.06.011
Citation: GE Hui, YAN Wei-sheng, XU De-min. Nonlinear Modelling of Control-Configured Underwater Vehicle in Complicated Oceanic Environment[J]. Journal of Unmanned Undersea Systems, 2007, 15(6): 040-45. doi: 10.11993/j.issn.1673-1948.2007.06.011
shu

Nonlinear Modelling of Control-Configured Underwater Vehicle in Complicated Oceanic Environment

doi: 10.11993/j.issn.1673-1948.2007.06.011

  • College of Marine Engineering,Northwestern Polytechnical University, Xi′an 710072, China

  • Received Date: 2007-04-09
  • Rev Recd Date: 2007-11-16
  • Publish Date: 2007-12-30
    Abstract
  • The new type of control-configured underwater vehicle is equipped with multi-thrusters on different directions to realize direct hydrodynamic lift control and direct hydrodynamic side force control in two motion modes of cruise and hover. Hydrodynamic models of different motion modes and models of oceanic environment including wave and current are established. Then nonlinear motion equations with six degrees of freedom of the vehicle are deduced based on the momentum theorem and the momentum moment theorem. Simulation results show that the proposed models can simulate the motion modes of cruise and hover, and describe low and high frequency motion states of underwater vehicle. These models will be useful for the control system design and simulation of underwater vehicle moving near sea surface.

     

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