The knowledge of dynamic models to describe the behaviors of unmanned underwater vehicles allows to design a precise navigation, guidance, and control system. A practical identification strategy is presented in this contribution, a procedure that can be easily executed during field trials and that is able to obtain a rapid assessment about the characteristics of the vehicle dynamic model. The developed procedure is designed for small-size-class remotely operated vehicles, characterized by low operative speeds. The vehicle is equipped with proprioceptive sensors in charge of measuring data needed to identify its dynamic model. Building on the proposed practical identification experiments, different vehicle propulsion models are considered and analyzed: the first is a general theoretical model accounting for the vehicle hydrodynamics (standard marine Fossen model); the others are modified models introducing additional terms in the produced thrust (torque), namely, a term proportional to the rate of change of the propeller revolutions per minute (r.p.m.), n ˙ ( t ) (where n is the revolution rate of the propeller), and a delayed copy of the terms connected to the fluid axial flow velocity. For all considered degrees of freedom, the fitting performance of the proposed models resulted to be superior to the first. Moreover, a control system building on the obtained dynamic characterization is described.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Analysis of an Unmanned Underwater Vehicle Propulsion Model for Motion Control


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2022-03-21


    Format / Umfang :

    14 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Vector propulsion type underwater unmanned vehicle

    HU QIAO / TONG BAOCHENG / ZHANG TANGJIA et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Parallel combustor configuration for unmanned underwater vehicle propulsion turbine

    HIMMELMANN RICHARD A | Europäisches Patentamt | 2020

    Freier Zugriff

    PARALLEL COMBUSTOR CONFIGURATION FOR UNMANNED UNDERWATER VEHICLE PROPULSION TURBINE

    HIMMELMANN RICHARD A | Europäisches Patentamt | 2018

    Freier Zugriff

    UNMANNED UNDERWATER VEHICLE PROPULSION SYSTEM INCLUDING A DC BUS

    HIMMELMANN RICHARD A | Europäisches Patentamt | 2018

    Freier Zugriff

    Pulsed power hybrid electric unmanned underwater vehicle propulsion system

    HIMMELMANN RICHARD A | Europäisches Patentamt | 2019

    Freier Zugriff