Modeling and Simulation of Cross-Rudder Underactuated AUV Based on Kane Dynamics

YANG Ke

doi:10.11993/j.issn.2096-3920.2022-0085

Volume 31 Issue 6

Dec 2023

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YANG Ke. Modeling and Simulation of Cross-Rudder Underactuated AUV Based on Kane Dynamics[J]. Journal of Unmanned Undersea Systems, 2023, 31(6): 885-890. doi: 10.11993/j.issn.2096-3920.2022-0085

Citation:

YANG Ke. Modeling and Simulation of Cross-Rudder Underactuated AUV Based on Kane Dynamics[J]. Journal of Unmanned Undersea Systems, 2023, 31(6): 885-890. doi: 10.11993/j.issn.2096-3920.2022-0085

YANG Ke. Modeling and Simulation of Cross-Rudder Underactuated AUV Based on Kane Dynamics[J]. Journal of Unmanned Undersea Systems, 2023, 31(6): 885-890. doi: 10.11993/j.issn.2096-3920.2022-0085

Citation:

YANG Ke. Modeling and Simulation of Cross-Rudder Underactuated AUV Based on Kane Dynamics[J]. Journal of Unmanned Undersea Systems, 2023, 31(6): 885-890. doi: 10.11993/j.issn.2096-3920.2022-0085

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Modeling and Simulation of Cross-Rudder Underactuated AUV Based on Kane Dynamics

doi: 10.11993/j.issn.2096-3920.2022-0085

YANG Ke

College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China

Received Date: 2022-11-28
Accepted Date: 2023-03-14
Rev Recd Date: 2023-02-17

Available Online: 2023-12-11

Abstract

Abstract

In order to obtain a more accurate dynamics model of autonomous undersea vehicles(AUVs), the kinematics and dynamics equations of the cross-rudder underactuated AUV were deduced by introducing the related knowledge of Kane dynamics. By taking the position, attitude, horizontal rudder angle, and vertical rudder angle of the AUV as generalized coordinates, the calculation formulas of generalized velocity, partial velocity, and partial angular velocity were deduced, and the calculation methods of generalized active force and generalized inertia force were analyzed. In addition, the modeling steps of Kane dynamics were given, and the effectiveness of the modeling method was verified by simulation experiments.
- autonomous undersea vehicle,
- Kane dynamics,
- generalized active force,
- generalized inertia force

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References(18)

References

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