This chapter presents models for underwater vehicles. Ship models are usually reduced‐order models for control of the horizontal‐plane motions (surge, sway and yaw) in combination with roll if roll damping is an issue. This chapter discusses 6‐degrees of freedom (DOF) models, which are useful for underwater vehicles with actuation in all DOFs. A 6‐DOF model is usually implemented in a computer to describe all dynamic effects as accurately as possible. The 6‐DOF equations of motion can in many cases be divided into two non‐interacting subsystems: longitudinal subsystem, and lateral subsystem. For slender symmetrical bodies or so‐called “flying underwater vehicles” it is common to decompose the 6‐DOF equations of motion into three non‐interacting subsystems: forward speed subsystem, course angle subsystem, and pitch‐depth subsystem. Spherical‐shaped underwater vehicles are easy to model due to symmetry.
Models for Underwater Vehicles
2021-06-01
22 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Springer Verlag | 2022
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